A ROBUST ADAPTIVE-CONTROL DESIGN FOR A CLASS OF DYNAMICAL-SYSTEMS USING CORRECTED MODELS

A systematic procedure for designing a robust adaptive control strateg y for a class of dynamical systems containing n dominant slow modes an d m parasitic fast modes is developed. The result is a corrected adapt ive control strategy more robust to parasitic dynamics than convention al methods in the literature that are based on the so-called zeroth-or der or uncorrected adaptive control laws. The distinct feature of the proposed controller is its dynamic nature. The key requirement for imp lementing the dynamic controller is the asymptotic stability of the ze ro dynamics of the first order corrected reduced model. The results ar e verified by numerical simulations.