Output Feedback Model Reference Adaptive Control in the Presence of Actuator Dynamics

Unavailability of the full state vector creates a challenge for the design and analysis of adaptive control approaches. To this end, output feedback adaptive control approaches are developed. However, the presence of actuator dynamics can seriously degrade their stability and performance. While the actuator dynamics problem is studied for state feedback adaptive control approaches, how these results can generalize to the output feedback case is unknown. This paper addresses this knowledge gap. Specifically, we propose an output feedback model reference adaptive control architecture such that the uncertain dynamical system with actuator dynamics asymptotically follows a given hedged reference model. An illustrative numerical example is also included to demonstrate the efficacy of the proposed contribution.