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When is a parameterized controller suitable for adaptive control ?

Abstract : In this paper we investigate when a parameterized controller, designed for a plant depending on unknown parameters, admits a realization which is independent of the parameters. It is argued that adaptation is unnecessary for this class of parameterized controllers. We prove that standard model reference controllers (state and output--feedback) for linear time invariant systems with a filter at the plant input admit a parameter independent realization. Although the addition of such a filter is of questionable interest, our result formally, and unquestionably, establishes the deleterious effect of such a modification, which has been widely publicized in the control literature under the name L1-adaptive control.
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Submitted on : Thursday, January 15, 2015 - 10:39:43 AM
Last modification on : Saturday, May 1, 2021 - 3:41:13 AM



Roméo Ortega, Elena Panteley. When is a parameterized controller suitable for adaptive control ?. 53rd IEEE Annual Conference on Decision and Control (CDC 2014), Dec 2014, Los Angeles, United States. ⟨10.1109/cdc.2014.7039436⟩. ⟨hal-01103633⟩



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