Some Design Guidelines for Discrete-Time Adaptive Controllers,
MASSACHUSETTS INST OF TECH CAMBRIDGE LAB FOR INFORMATION AND DECISION SYSTEMS
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There have been many algorithms proposed for adaptive control which will provide globally asymptotically stable controllers if some stringent conditions on the plant are met. The conditions on the plant cannot be met in practice as all plants will contain high frequency unmodeled dynamics therefore, blind implementation of the published algorithms can lead to disastrous results. This paper uses a linearization analysis of a non-linear adaptive controller to demonstrate analytically design guidelines which alleviate some of the problems associated with adaptive control in the presence of unmodeled dynamics.
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