Paper: Decentralized adaptive control of interconnected systems with reduced-order models

Authors:
Pétros Ioannou;Petar Kokotovic
Affiliations:
Department of EE-Systems, University of Southern California, Los Angeles, CA 90089-0781, U.S.A.;Coordinated Science Laboratory, University of Illinois, Urbana, IL 61801, U.S.A.
Venue:
Automatica (Journal of IFAC)
Year:
1985

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Abstract

The adaptive control of interconnected systems whose subsystems possess slow and fast modes is investigated in the presence of external disturbances. A simple example is first used to show that a decentralized adaptive controller can become unstable due to the unmodeled interconnections and/or neglected parasitics. An approach is then developed for stabilization and tracking using decentralized adaptive controllers with modified adaptive laws. Sufficient conditions are obtained under which a region of attraction exists for boundedness and exponential convergence of the state/parameter errors to a small residual set. The size of the region of attraction depends on the frequency range of the local parasitics in such a way that if all the local parasitics become infinitely fast, the region of attraction becomes the whole space.