Certainty equivalence adaptive control of plants with unmatched uncertainty using state feedback

  • Authors:

  • Jovan D. Boškovic;Zhuo Han

  • Affiliations:

  • Scientific Systems Company, Inc., Woburn, MA;Center for Systems Science, Yale University, New Haven, CT

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

A systematic design procedure using state-feedback Certainty Equivalence Adaptive Control (CEAC) technique is developed for linear plants and a class of nonlinear plants with unmatched uncertainty. It is shown that a reduced order observer and adaptive laws with normalization in conjunction with the CEAC law result in a stable overall system in the case of linear plants of any relative degree, and a class of nonlinear plants of relative degree two. In the case of higher relative degrees a CEAC approach based on multiple observers is proposed. The proposed schemes guarantee overall system stability and asymptotic tracking.