Theory

Adaptive Control in the Presence of Unmodeled Dynamics

Output Feedback Adaptive Control

Closed-Loop Reference Model Based Adaptive Output Feedback Using a Linear Matrix Inequality

Closed-Loop Reference Models

Historically, reference models in adaptive systems run open--loop in parallel with the plant and controller, using no information from the plant or controller to alter the trajectory of the reference system. Closed--loop reference models on the other hand use information from the plant to alter the reference trajectory. Using the extra design freedom available in closed--loop reference models, we design new adaptive identifiers, observers, and controllers that are (a) stable, and (b) have improved transient properties.