15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
CONTROLLER PARAMETER ADAPTATION ALGORITHM USING UNFALSIFIED CONTROL THEORY AND GRADIENT METHOD
Myungsoo Jun* Michael G. Safonov**
* Sibley School of Mechanical and Aerospace Engineering
Cornell University
Ithaca, NY 14853-7501, USA
** Department of Electrical Engineering — Systems
University of Southern California
Los Angeles, CA 90089-2563, USA
In this paper, a new controller parameter adaptation rule is proposed. The proposed adaptation rule is derived via unfalsification control theory and gradient method without imposing many assumptions on the plant. Convergence of parameter is discussed. Numerical examples and simulation results are also provided.
Keywords: Learning control, adaptive control, adaptive systems, control algorithm, uncertain dynamic systems
corresponding author; Email msafonov@usc.edu;fax +1-213-740-4449.

E-mail: mj73@cornell.edu
Session slot T-Th-M03: Advances in Adaptive Control/Area code 3b : Adaptive Control and Tuning