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Robustness of VS-MRAC with respect to unmodelled dynamics and external disturbances
Authors:Ramon R. Costa  Liu Hsu
Abstract:A variable structure model reference adaptive controller (VS-MRAC) using only input and output measurements was recently proposed and shown to be globally asymptotically stable with superior transient behaviour and disturbance rejection properties. In this paper a singular perturbation approach is used in order to establish the robustness of the controller in the presence of unmodelled dynamics (parasitics) and disturbances. We develop a new Lyapunov-based technique to analyse the overall system and show that for sufficiently small parasitics the system remains stable and the output error is small in some sense.
Keywords:Adaptive control  Variable structure control  Robustness  Unmodelled dynamics  Robustness of adaptive control
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