An input-output view of robustness in adaptive control
The aim of the paper is to examine the stability and robustness properties of adaptive control systems by using passivity and small-gain concepts. In this respect one formalizes the conversion of a generic adaptive controller to an equivalent generic error system and then one applies this formulation for a specific continuous-time adaptive model- following algorithm. Passivity theory is used to develop conditions for global stability which require that a particular system operator is strictly-passive. Using small-gain theory one gives local stability conditions and an estimate of the stability margin. These latter less restrictive results are closely related to the engineering technique, i.e. they are adequate for unmodelled dynamics. The claim of the authors that this paper is a framework for an input-output theory of adaptive control is legitimate.
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