Synthesis of an Adaptive Observer Using Lyapunov's Direct Method.
YALE UNIV NEW HAVEN CONN BECTON CENTER
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The model reference approach using Lyapunovs direct method for adaptive control and identification problems has proved to be a powerful one in recent years. This is so because it inherently enables one to choose the structure of the controller or identifier so that the overall system is stable -- a feature not commonly encountered when using other methods. In the report an alternate observer structure is developed which contains some of the features of those described in previous papers. The emphasis throughout is on the structure of the overall system, the form of the adaptive laws and the cubic nature of the feedback signals to the observer. The Kalman-Yakubovich lemma is used to show the existence of a quadratic Lyapunov function of the form used for the case when all the state variables of the plant are accessible.
- Theoretical Mathematics