### Abstract

The authors propose a discrete-time model-reference adaptive control algorithm which is robust with respect to stable additive and multiplicative plant uncertainties. The algorithm uses the same controller structure as the one that would be used if the parameters of the dominant part of the plant were known. Using essentially the same assumptions that are necessary to design a fixed controller based on the exact knowledge of the dominant part of the plant, it is shown that the proposed algorithm guarantees boundedness for all signals in the closed loop and 'small' residual tracking errors for any bounded initial conditions. In the absence of plant uncertainties, the algorithm guarantees zero residual tracking errors.

Original language | English (US) |
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Title of host publication | Proceedings of the IEEE Conference on Decision and Control |

Publisher | IEEE |

Pages | 838-843 |

Number of pages | 6 |

State | Published - 1986 |

Externally published | Yes |

### ASJC Scopus subject areas

- Chemical Health and Safety
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality

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## Cite this

*Proceedings of the IEEE Conference on Decision and Control*(pp. 838-843). IEEE.