Robust Adaptive Control of Servo Systems

This paper presents the evaluation of a novel Robust Adaptive Control algorithm on a servo system. The main feature of the proposed approach is the use of an updated law based on the e-modification, endowed with a saturation function that maintains the parameter estimates within known lower and upper bounds without resorting on parameter projection techniques. The performance and advantages of the proposed update law compared to the use of a standard updated law based on the e-modification are evaluated. The experimental results highlight the advantages of the proposed robust adaptive controller. In addition, the experiments also show that the use of the proposed update law produces a smooth control signal without large peaks.