A unified approach to adaptive control

This chapter presents an integrated approach to the design of adaptive control systems. Emphasis will be given to the unification of analogue and sampled data adaptive controllers. This unification allows continuous time intuitions to be used in the discrete time case. It also gives confidence in the discrete time algorithms when implemented with rapid sampling. We adopt the view that a practical adaptive control algorithm should be considered as a combination of a robust parameter estimation scheme together with robust control synthesis. A key issue in the design of robust parameter estimators and robust control laws is the effect of unmodelled errors.