Robust Direct Adaptive Control with Least Prior Knowledge

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Original languageEnglish
Pages (from-to)30-34
Journal / PublicationIEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications
Issue number1
Publication statusPublished - Jan 1995
Externally publishedYes


A new, robust, discrete time, singularity-free, direct adaptive- control scheme is proposed with respect to a class of modeling uncertainties in this paper. Two key features of this scheme are that a relative dead zone is used, but no knowledge of the parameters of the upper bounding function on the class of modeling uncertainties is required, and no knowledge of the lower bound on the leading coefficient of the parameter vector is required to ensure the control law singularity free. Global stability and convergence results of the scheme are provided. © 1995 IEEE