Robust adaptive control of dynamic hybrid systems
This paper treats the problem of robust adaptive control on non-necessarily inversely stable, single-input, single-output linear hybrid plants. It has six sections.NEWLINENEWLINENEWLINEAfter the introduction (section 1), in section 2 the state-space structure of the nominal hybrid plant is established. Further, one discusses its input-output description ``at and ``in-between sampling instants obtained from its state-space description. Extensions of both to the case where there is a presence of unmodelled dynamics and bounded disturbances are gotten by including an additive function in each of the models. Section 3 treats the robust adaptive control scheme and associated parameter estimation algorithms. Relative dead zones are used to prevent the adaption process against small prediction errors compared with the size of the contributions of the unmodelled dynamics and bounded disturbances to the output. Section 4 regards convergence properties of the estimates as well as the closed-loop robust stability. Section 5 treats a simulated numerical example. Conclusions (section 6) end the paper.
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