Decentralized indirect adaptive control of interconnected systems

Continuous time decentralized indirect adaptive controllers are proposed for a large-scale system composed of N interconnected linear subsystems with unknown parameters. Each local adaptive law utilizes a normalizing signal which is generated using the local input and the outputs of all the subsystems. This requires the exchange of output signals between the different subsystems, so that the scheme is no longer totally decentralized. Nevertheless, the degree of computational complexity is about the same as that of a totally decentralized scheme and this makes the scheme very attractive.