OPTIMALITY OF A DIRECT ADAPTIVE CONTROLLER IN THE PRESENCE OF MODEL MISMATCH AND BOUNDED DISTURBANCES*

摘要

In this paper consider an adaptive controller with vanishing gain and excitation of the reference signal. We use the burst recovery concept to show that all signals in the adaptive loop remain uniformly bounded. We also show that the mean-esquire performance converges so that the adaptive system is optimal in the sense that the parameter estimation error and the one-step ahead prediction error are uncorrected in the mean despite the presence of the unmodeled dynamics.