Input Matching: A New Procedure For Adaptive Control Design

Adaptive input matching, based on directly adapt- ing controller parameters to form a control effort matching a desired input, bypasses the identifiability constraints of indirect adaptive control and the per- fect matching limitations of current direct adaptive exact output/model matching schemes. This original concept allows combination of stable parameter adjust ment algorithms and optimal performance considerations. Furthermore, the focus on input matchability allows consistent control despite inconsistent control parame- ter identification. Examination of three diverse plant objective classes demonstrates the immediate broad ap- plicability of the input matching concept and provides several suggestions for further application of this new procedure for adaptive control design.