A Robust Control Algorithm for an Uncertain Object without Measurements of the Derivatives of the Adjusted Variable

Abstract

A robust control scheme for an uncertain object without the need for measuring the derivatives of the adjusted variable (output of the controlled object) is designed such that the adjusted variable remains bounded and converges to a bounded invariant set under certain given assumptions on the object. The design is based on the well-known Morse approach, called the “high-order adaptation algorithm.” Unlike this algorithm, our robust control scheme is helpful in designing lower-order controllers. An example and results of a computer-aided modeling experiment are given to illustrate the performance of our control scheme.