L1 Adaptive Controller for Nonlinear Reference Systems
نویسندگان
چکیده
In this paper, we consider nonlinear affine-incontrol systems and present the L1 adaptive controller for the case when the performance specifications are defined via a nonlinear system of similar structure. The L1 adaptive controller ensures that the nonlinear, affine-in-control, uncertain system follows its ideal model during the transient and steadystate, if the adaptation gain is selected sufficiently large and the bandwidth of the low-pass filter is adjusted appropriately. Simulations verify the theoretical results.
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