Tracking Errors of Simple Adaptive Control

摘要

Adaptive Control algorithms require some basic passivity conditions that are not inherentlyrnsatisfied by real-world systems. Although Simple Adaptive Control algorithms have beenrnsuccessfully used in many applications, they usually require that a Parallel FeedforwardrnConfiguration be added to the original plant such that the resulting augmented “almost passive”rnsystem satisfies the required passivity conditions. Although stability and asymptotically trackingrnsystem of the augmented system are then guaranteed, the price that is paid in the actual plantrnperformance and steady state errors has remained debatable. The new analysis that is presentedrnhere shows that using Simple Adaptive Control and Parallel Feedforward Configuration as Add-rnOn to LTI design leads to lower tracking errors in steady steady-state errors, when compared withrnbest LTI design.