K-modification based H2 Adaptive Control

Two novel adaptive control laws are presented. The first is based on the use of a tunable stiffness term that provides a frequency dependent filtering effect, smoother transient responses, and time delay robustness in the adaptive system. The second is an H2 approach which extends a recently developed Kalman filter based approach to adaptive control law modification, by providing an optimal time varying adaptation gain. The proposed H2 model reference adaptive control law with K-modification combines the advantages in each method. It can also be used with the well known σand e-modification terms.