Brief Robust adaptive identification of slowly time-varying parameters with bounded disturbances

Authors:
Michel De Mathelin;Rogelio Lozano
Affiliations:
ENSPS, Strasbourg I University, LSIIT UPRES-A CNRS 7005, Bd S. Brant, 67400 Illkirch, France;Université de Technologie de Compiègne, HEUDYASIC UMR CNRS 6599, Centre de Recherches de Royallieu, BP549, 60205 Compiègne cedex, France
Venue:
Automatica (Journal of IFAC)
Year:
1999

Citing 9
Cited 2

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Abstract

In this paper, the robustness limitations of current recursive identification algorithms are highlighted. Then, it is shown how a particular non-recursive identification algorithm may improve the robustness to bounded disturbances and slowly time-varying parameters, at the expense of performing an on-line eigenvalue decomposition on a symmetric semidefinite positive matrix. Furthermore, contrary to ''robustified'' recursive identification algorithms, this algorithm does not require any a priori knowledge of a bound on the disturbances and of a bound on the unknown parameter values.