Robust high-order tuner of simplified structure
The paper deals with the robust redesign of high-order tuners, introduced by \textit{A. S. Morse} [Lect. Notes Control Inf. Sci. 183, 138-145 (1992; Zbl 0788.93047)]. The research is motivated by a stability analysis of Morse's adaptation scheme, revealing that bounded external disturbances can cause unbounded parametric drift, due to pure integral actions. The robustified approach results from embedding a decay term in the control law so as to ensure the boundedness of all the closed-loop signals. Moreover, the proposed variant for high-order tuner has a simpler structure than in Morse's work, reducing the total dynamic order of the auxiliary filters. Simulation experiments prove the superiority of this new adaptation scheme, comparing the plant behavior controlled by Morse's tuner and the redesigned one, respectively.
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