Improved efficiency of adaptive robust control by model unfalsification

The adaptive robust control scheme introduced by Veres and Sokolov (Automat ica, 34, 723-730) provides optimal asymptotic performance under unmodelled dynamics, unknown disturbance bounds and unknown model orders that make the scheme desirable in practical applications. The amount of numerical comput ations associated with that scheme is large because of the possible large c omplexity of the appearing polyhedra. The geometrical details of the polyhe dra need large memory space and their updating a lot of computation. This n ote gives a modification of the scheme so that polyhedron complexity is lim ited. Asymptotic performance of the scheme is the same as that of the origi nal adaptive scheme in Veres and Sokolov (1998), transient performance can be worse. Simulation illustrates that practical implementation of the schem e is feasible. (C) 1999 Elsevier Science Ltd. All rights reserved.