Direct Robust Adaptive Nonlinear Control with Derivatives Estimation
Abstract
In this paper we propose a novel adaptive control algorithm which allows to handle the issues of detectability, robustness and transient performance of adaptive systems. The controller structurally is similar to that of Panteley et al (2002). It is designed, however, on the grounds of rather different philosophy – estimation of the derivatives of plant state. In addition to systems which can be rendered to be as-ymptotically stable by means of the state feedback, plants satisfying assumption of partial asymptotic stability are considered.
