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In this paper, we consider the design of a variable structure model reference adaptive control (VS-MRAC) for plants with relative degree one without the knowledge of the sign of the plant high frequency gain. A switching method for the control signal, based on an appropriate monitoring function, is proposed. As a result, we show that after a finite number of switchings, the tracking error converges to zero at least exponentially. Interestingly enough, if the initial conditions of some states of the closed-loop system are zero, we show that at most one switching is needed.
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on (Volume:4 )
Date of Conference: 9-12 Dec. 2003