Stable Adaptive Controller Design. Part II. Proof of Stability.

摘要

This paper presents a proof of the stability in the large of an adaptive system which is a modification of that originally suggested by Monopoli and later refined by Narendra and Valavani. The proof of stability applies to both continuous and discrete systems. The stability problem was clearly defined and a conjecture was made that the plant together with the controller would be stable if the augmented error is bounded. Recently, while applying the same approach to discrete systems a new error model based on the third prototype was suggested. This model contains an additional feedback term similar to that found in much of the adaptive observer literature and is particularly useful in proving the stability in the large of discrete adaptive systems. The successful resolution of the latter problem provides the motivation for using a similar model in the continuous case as well.