Mathematics of Control, Signals and Systems

, Volume 18, Issue 4, pp 369–394 | Cite as

A performance comparison of robust adaptive controllers: linear systems

  • Ahmad Sanei
  • Mark French
Original Article


We consider robust adaptive control designs for relative degree one, minimum phase linear systems of known high frequency gain. The designs are based on the dead-zone and projection modifications, and we compare their performance w.r.t. a worst case transient cost functional with a penalty on the \(\mathcal{L}\) norm of the output, control and control derivative. We establish two qualitative results. If a bound on the \(\mathcal{L}\) norm of the disturbance is known and the known a priori bound on the uncertainty level is sufficiently conservative, then it is shown that a dead-zone controller outperforms a projection controller. The complementary result shows that the projection controller is superior to the dead-zone controller when the a priori information on the disturbance level is sufficiently conservative.


Robust adaptive control Non-singular performance 


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Copyright information

© Springer-Verlag London Limited 2006

Authors and Affiliations

  1. 1.School of Electronics and Computer ScienceUniversity of SouthamptonSouthamptonUK

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