Adaptive Control for Systems With Time-Varying Parameters

This article investigates the adaptive control problem for systems with time-varying parameters using so-called congelation of variables method. First, two scalar examples to illustrate how deal in feedback path and input path, respectively, are discussed. The an n-dimensional lower triangular system via state is then discussed show combine method backstepping techniques. To achieve output regulation feedback, which cannot be solved directly due coupling between perturbation, ISS inverse dynamics, referred as strong minimum-phaseness, exploited. allows converting such into perturbation. A set filters, resulting estimation error designed cope unmeasured variables. Finally, a controller based on small-gain-like analysis that takes all subsystems account. Simulation results proposed achieves asymptotic outperforms classical controller, presence neither known nor asymptotically constant.