15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
ADAPTIVE CONTROL OF DISCRETE TIME SYSTEMS WITH CONCAVE/CONVEX PARAMETRIZATIONS
C Y Qu* A P Loh* K F Fong* A M Annaswamy**
* Dept of Electrical & Computer Engineering
National University of Singapore
Singapore 119260
** Dept of Mechanical Engineering
Massachussetts Institute of Technology
Cambridge, MA 02139

This paper considers the adaptive control of a class of nonlinear discrete time system with nonlinearly parametrized functions. In particular, the focus is on concave or convex parametrizations with unknown parameters. The solutions involved 2 tuning functions which are determined by a minmax optimization approach much like the continuous time counterparts found in the literature. Direct extension from continuous time case do not work very well due to the premature termination of the adaptive algorithm before zero tracking error can be achieved. In this paper, this problem is solved. The proposed algorithm can be shown to be stable and in some cases, achieve zero tracking error in steady state.
Keywords: adaptive control, discrete time systems, nonlinear systems
Session slot T-Mo-M03: Mathematical Methods in Adaptive Control/Area code 3b : Adaptive Control and Tuning