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Passive adaptive control of non‐linear systems
Author(s) -
Kanellakopoulos I.
Publication year - 1993
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480070504
Subject(s) - interlacing , control theory (sociology) , nonlinear system , passivity , parametric statistics , lyapunov function , property (philosophy) , mathematics , adaptive control , transient (computer programming) , computer science , linear system , control (management) , engineering , mathematical analysis , artificial intelligence , philosophy , statistics , physics , epistemology , quantum mechanics , electrical engineering , operating system
We develop a new recursive procedure for the design of adaptive controllers for non‐linear systems with unknown parameters and unmeasured states. The use of novel nonlinear damping terms endows the closed‐loop systems with the remarkable property of boundedness for arbitrary parametric uncertainty even when the adaptation is switched off. The combination of these nonlinear terms with interlacing functions produces ‘damped interlacing’, which results in new passivity and transient performance properties. Damped interlacing allows us to construct a full Lyapunov function that encompasses all the variables of the adaptive system.