Accession Number : ADA119910

Title :   Robustness of Adaptive Control Algorithms in the Presence of Unmodeled Dynamics,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE LAB FOR INFORMATION AND DECISION SYSTEMS

Personal Author(s) : Rohrs,Charles E ; Valavani,Lena ; Athans,Michael ; Stein,Gunter

PDF Url : ADA119910

Report Date : Sep 1982

Pagination or Media Count : 11

Abstract : This paper reports the outcome of an exhaustive analytical and numerical investigation of stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances. The class of adaptive algorithms considered are those commonly referred to as model-reference adaptive control algorithms, self-tuning controllers, and dead-beat adaptive controllers; they have been developed for both continuous-time systems and discrete-time systems. The existing adaptive control algorithms have been proven to be globally asymptotically stable under certain assumptions, the key ones being (a) that the number of poles and zeroes of the unknown plant are known, and (b) that the primary performance criterion is related to good command following. These theoretical assumptions are too restrictive from an engineering point of view. Real plants always contain unmodeled high-frequency dynamics and small delays, and hence no upper bound on the number of the plant poles and zeroes exists. Also real plants are always subject to unmeasurable output additive disturbances, although these may be quite small. Hence, it is important to critically examine the stability robustness properties of the existing adaptive algorithms when some of the theoretical assumptions are removed; in particular, their stability and performance properties in the presence of unmodeled dynamics and output disturbances. (Author)

Descriptors :   *Algorithms, *Adaptive control systems, High frequency, Stability, Dynamics, Output, Simulation, Self operation, tuning, Operators(Mathematics), Global, Asymptotic normality, Stability

Subject Categories : Theoretical Mathematics

Distribution Statement : APPROVED FOR PUBLIC RELEASE