Certainty equivalence implies detectability

被引:90
作者
Hespanha, JP [1 ]
Morse, AS
机构
[1] Univ Calif Berkeley, Elect Res Lab, Berkeley, CA 94720 USA
[2] Yale Univ, Ctr Computat Vis & Control, New Haven, CT 06520 USA
基金
美国国家科学基金会;
关键词
certainty equivalence; detectability; input-to-state stability; adaptive control;
D O I
10.1016/S0167-6911(98)00057-7
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
It is shown that any stabilizing, certainty equivalence control used within an adaptive control system, causes the familiar interconnection of a controlled process and associated output estimator to be detectable through the estimator's output error e(p), for every frozen value of the index or parameter vector p upon which both the estimator and controller dynamics depend. The fact that certainty equivalence implies detectability has been known for some time - this has been shown to be so whenever the process model is linear and the controller and estimator models are also linear for every frozen value of p. In this paper, use is made of recently introduced concepts of input-to-state stability and detectability for nonlinear systems to prove that the same implication is valid in a more general, nonlinear setting. (C) 1999 Published by Elsevier Science B.V. All rights reserved.
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页码:1 / 13
页数:13
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