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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

Abstract

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.

Keywords

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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