Some comments on the use of normalization in robust adaptive control (Q1110478)

Many adaptive control schemes suffer from high frequency, unmodeled dynamics of the plant. This has led the research in adaptive control to study robustness poperties of controllers. One clear trend is to incorporate a normalizing signal into parameter estimation. Several ideas of normalization have been discussed in the literature. This paper considers normalization of the regressor and the error signal in the standard parameter update law and replacement of the error signal with a function of the normalizing signal and the error. It illustrates that the use of normalization allows the unmodeled dynamics to be treated as a bounded disturbance with any of the standard modifications such as using deadzone. The convergence properties for both mentioned approaches are derived and shown to be similar.