Abstract
We study the stability given by a modified model reference adaptive controller. Modifications are projections of the adapted parameters into a convex compact set and normalization of the signals entering the adaptation law by a weighted l 2-norm of the I/O signals. The plant is assumed to satisfy properties which are proved to be robust with respect to a graph topology based on μ-exponential stability. Global stability is established and the mean square tracking error is shown to converge to zero linearly with the unmodeled effects.
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© 1986 Springer Science+Business Media New York
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Praly, L. (1986). Global Stability of a Direct Adaptive Control Scheme With Respect to a Graph Topology. In: Narendra, K.S. (eds) Adaptive and Learning Systems. Springer, Boston, MA. https://doi.org/10.1007/978-1-4757-1895-9_4
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DOI: https://doi.org/10.1007/978-1-4757-1895-9_4
Publisher Name: Springer, Boston, MA
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