A SOLUTION TO THE DECENTRALIZED ADAPTIVE STABILIZATION PROBLEM

In this paper we present for the first time a solution to the problem of designing a globally convergent truly decentralized adaptive controller for systems of arbitrary relative degree without any matching assumptions. Specifically, we prove that using Morse's new dynamic certainty equivalent adaptive controller we can determine a class of unmodelled interconnections in the face of which regulation of the plant output to zero with internal stability is still possible. Furthermore, we prove that the output regulation happens with some guaranteed transient performance bounds. Namely, we show that the L2 norm of the output is uniformly bounded by the initial parameter estimation error and that, if the latter and the plant initial conditions are sufficiently small, then we can ensure a bound for the L(infinity) norm of the output.