CONVERGENCE AND LOGARITHM LAWS OF SELF-TUNING REGULATORS

This paper starts with a survey of some recent results on least-square s (LS) and LS-based self-tuning regulators (STR). Several long-standin g problems concerning the basic properties of LS-based STR, such as st ability, optimality, consistency and the best convergence rate, are so lved within a unified framework. Some previously related results are a lso subsumed and extended. Various new techniques for analysing LS-bas ed adaptive tracking systems are presented, which may also be useful f or analysing other adaptive control problems.