L1 Adaptive Control for Systems with Integral Feedback Augmentation

L1 adaptive control is a new adaptive control methodology developed in recent years with good robustness properties and some distinguishing features, such as fast adaptation and guaranteed transient closed-loop response. However, the L1 adaptive control architecture in various forms in currently available literature has not considered systems with integrated output tracking error as augmented states. This paper extends the L1 adaptive control architecture to systems with this integral feedback augmentation while retaining the original control performance of L1 adaptive control. After some proof and discussions about this method, some simulation examples are given to illustrate the effectiveness of the proposed control methods.

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