Filter Design for ℒ1 Adaptive Output-Feedback Controller

In this paper we exploit the connection between disturbance observer and ℒ<inf>1</inf> adaptive control theories. We consider ℒ<inf>1</inf> adaptive output-feedback control framework, for which the ℒ<inf>1</inf> reference controller is equivalent to the disturbance observer. Using this fact, we investigate several properties of the disturbance observer architecture, leading to various filter design methods towards verification of the stability conditions for the ℒ<inf>1</inf> adaptive output-feedback controller.

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