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Certainty Equivalence Adaptive Control of Plants With Unmatched Uncertainty Using State Feedback

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2 Author(s)
Boskovic, J.D. ; Sci. Syst. Co., Inc., Woburn, MA, USA ; Zhuo Han

A systematic design procedure using state-feedback certainty equivalence adaptive control (CEAC) technique is developed for linear plants and a class of nonlinear plants with unmatched uncertainty. It is shown that a reduced order observer and adaptive laws with normalization in conjunction with the CEAC law result in a stable overall system in the case of linear plants of any relative degree, and a class of nonlinear plants of relative degree two. In the case of higher relative degrees a CEAC approach based on multiple observers is proposed. The proposed schemes guarantee overall system stability and asymptotic tracking.

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Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 8 )