Derivative-free decentralized adaptive control of large-scale interconnected uncertain systems

This paper presents a derivative-free decentralized adaptive control architecture for large-scale interconnected systems with matched and unmatched time-varying uncertainties and interconnections. The assumption of unknown constant ideal weights is generalized to the existence of time-varying weights without assuming the existence of their derivatives in a time interval. As a result, the proposed approach is particularly well suited for disturbance rejection, and for adaptation in the presence of sudden change in each subsystem's uncertain dynamics, such as might be due to damage.