TRANSIENT-PERFORMANCE IMPROVEMENT WITH A NEW CLASS OF ADAPTIVE CONTROLLERS

Computable L2 and L(infinity) performance bounds are derived for a recently proposed class of adaptive systems which show that, in addition to global stability and asymptotic tracking, a systematic improvement of transient performance can be achieved. The underlying linear nonadaptive controller is shown to possess a parametric robustness property, but for a large parameter uncertainty it requires high gain. A comparison between the adaptive and the nonadaptive performance bounds demonstrates that adaptation improves the overall performance without the undesirable effects of high gain.