Backstepping adaptive control of time-varying plants

摘要

In this paper, the problem of controlling linear plant whose parameters are unknown and time varying is dealt with using a backstepping adaptive controller. The parameter time-variations are accounted for by including a switching #sigma# -modification in the parameter update law. The resulting closed loop system is shown to be locally stable and a bound on the asymptotic performance is established. The slower the plant variation, the larger the region of attraction and the best the asymptotic performance.