Stability analysis of decentralised robust adaptive control (Q1117186)

Previous results on robustness of continuous-time adaptive controllers using a relative deadzone are extended to the situation of several interacting adaptive controllers. With a special form for the deadzone function which allows for interactions and an M-matrix stability condition, stability is established in the sense that all signals are bounded for bounded inputs. Robustness is achieved by running the estimators for the loops in parallel with the deadzone functions which take account of the interactions between subsystems and unmodelled dynamics. The appearance of an M-matrix as being the key for stability restricts the interactions to be small relative to the stability of each loop.