Robustness of the tuning functions adaptive backstepping design for linear systems
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An adaptive control law for linear systems with uncertainties is developed. The control objective is to track asymptotically a given reference signal. A design procedure based on suitably chosen Lyapunov functions is proposed. Robustness properties for different types of the unmodeled dynamics are derived. The tracking error is proportional to the size of the uncertainties. The resulting controller is inherently nonlinear.
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