Robust adaptive control of bilinear plants with high-order perturbation uncertainties

The robust adaptive control issue is considered for a class of bilinear plants with uncertainties of high-order unmodelled dynamics and bounded disturbances. The generalized minimum variance control strategy is first employed to give a basic optimal control law, followed by modification of introducing the modelling error estimate to the control law. Modified least-squares scheme with a relative dead zone is developed to work with the control law to form a novel robust adaptive control algorithm, without much priori knowledge of the plant. The resulting closed loop system is proven theoretically to be robustly stable to high-order unmodelled dynamics and bounded disturbances.