Linear Adaptive Control: A New Result in Model-Error Compensation Design

Abstract In this paper, the general concept of model-errors in dynamical system theory is reviewed. Some established techniques for the dynamic modeling, analysis and real-time compensation of such errors, using modern control engineering principles, are surveyed. An important class of parameter model-errors for linear dynamical systems is then identified and a new and rather unique form of “adaptive” controller, which can automatically compensate for such parameter errors, is derived. Unlike other adaptive controllers which have been proposed in the literature, the new adaptive controller proposed in this paper is entirely linear. The design procedure and performance capabilities for the proposed controller are illustrated by two worked examples and the results of simulation studies.