REDUCED-ORDER ADAPTIVE-CONTROL SCHEME

The objective of this paper is to present a new adaptive law motivated by the work of Narendra et al. (1980) for the robust adaptive control of plants with unmodelled high frequency dynamics. In the regulation case the adaptive system has bounded solutions. Stable performance is still guaranteed when the effect of high frequency parasitics is considered. Simulation results are presented throughout the paper to complement the theoretical developments. It has been shown that the adaptive gain, the initial conditions, the mode-separation ratio and the magnitude and periodicity of the reference input sequence are important factors in the design of stable adaptive control schemes.