ℌ2 adaptive control

Model reference adaptive control laws are derived using an ℌ
2
optimization approach. In addition, this leads to ℌ
2
forms of well known σ- and ℯ- modification based adaptive control architectures. It is shown that ℌ
2
adaptive control leads to smaller tracking errors without requiring high adaptation gain. Instead it provides an optimal time varying adaptation gain that results in improved performance without tuning of the adaptation gain.