Supervisory adaptive control revisited: Linear‐like convolution bounds and tolerance of slow time‐variations

Abstract

SummarySupervisory control has been shown to be a very effective approach to adaptive control which ensures step‐tracking, exponential stability, and a degree of robustness to unmodeled dynamics. Here we apply the technique to the classical ‐step‐ahead adaptive control problem: we not only prove exponential stability and tracking of a general bounded reference signal, but also a never‐before‐seen linear‐like convolution bound on the effect of the noise/disturbance. This latter property is then leveraged to not only prove robustness to a degree of unmodeled dynamics, but also to a never‐before‐seen tolerance to a degree of nonlinearities and to slow (on average) plant parameter variations.