Guaranteed Transient Performance with L₁ Adaptive Controller for Parametric Strict Feedback Systems

This paper extends the L₁ adaptive control architecture from (Cao and Hovakimyam, 2006) to parametric strict feedback systems in the presence of unknown time-varying parameters and bounded disturbances, which are not required to have slow rate of variation. We prove that the L₁ adaptive control architecture ensures guaranteed transient response for system's both signals, input and output, simultaneously. Simulations of a benchmark example conclude the paper.