Limited-complexity model-unfalsifying adaptive tracking-control

Some recently developed methods for robust tracking control by model unfals ification require demanding computations with polytopes. This paper introdu ces a limited-complexity polytope updating technique that can be used with adaptive control schemes. The main result establishes the convergence of ad aptive steady-state tracking performance to near the ideal robust performan ce. This result is extended to a robust control algorithm with limited-comp lexity polytope updating.