ROBUST-CONTROL SYSTEM-DESIGN - NONADAPTIVE VERSUS ADAPTIVE

The design of robust control for an uncertain dynamical system is first considered. The only information on the uncertainty, which is needed for the design, is its possiblebound. The (non-adaptive) robust control design basedon this information may sometimes not be feasible or practical. Thus the adaptive version of the nonadaptive robust control is desirableto estimate the bound.Twogeneral routines are constructed such that the corresponding adaptive versions of all the non-adaptive controls can be constructed. The adaptive control is applicable to mismatched uncertainty, measurement noise and the model-following problem. The theory is illustrated via a mechanical manipulator. © 1990 Taylor & Francis Group, LLC.