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Optimality of a direct adaptive controller in the presence of model mismatch and bounded disturbances

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Abstract

In this paper we consider an adaptive controller with vanishing gain and excitation of the reference signal. We use the burst recovery concept to show that all signals in the adaptive loop remain uniformly bounded. We also show that the mean-square performance converges so that the adaptive system is optimal in the sense that the parameter estimation error and the one-step ahead prediction error are uncorrelated in the mean despite the presence of the unmodeled dynamics.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Colorado at Denver, 80217-3364, Denver, Colorado

    Miloje S. Radenkovic

  2. Department of Chemical Engineering, Carnegi Mellon University, 15213, Pittsburgh, Pennsylvania

    B. Erik Ydstie

Authors
  1. Miloje S. Radenkovic
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  2. B. Erik Ydstie
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Radenkovic, M.S., Erik Ydstie, B. Optimality of a direct adaptive controller in the presence of model mismatch and bounded disturbances. Circuits Systems and Signal Process 18, 205–223 (1999). https://doi.org/10.1007/BF01225695

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  • DOI: https://doi.org/10.1007/BF01225695

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