Stability, Robustness and Performance of Adaptive Systems

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The focus of this research is on robust adaptive control with improved performance. The direct, indirect and variable structure methods will be used for this purpose. In the first stage, methods for combining all three approaches in a stable fashion will be investigated for the ideal case. In the second stage, the effect of perturbations on different combinations of the methods will be considered. In the final stage, the effect of additional prior information concerning the plant and the perturbations will be used to improve performance. In all cases the effect of persistent excitation on robustness and performance will be investigated. The most difficult theoretical question among the many that are suggested in the proposal deals with the adaptive control of a plant with unmodeled dynamics. This problem will be studied in detail using different levels of prior information concerning the unmodeled part.