A Comparison Study

This chapter conducts a comparison study of several adaptive control schemes applied to a benchmark two-body system with joint flexibility and damping, including direct state feedback, direct output feedback, indirect output feedback, direct-indirect state feedback, and backstepping state feedback designs, with detailed design and analysis for the last two designs. With different complexity, they all ensure closed-loop signal boundedness and asymptotic output tracking. The design and analysis of the direct-indirect adaptive control scheme demonstrate some typical time-varying operations on signals in time-varying systems.