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Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint

Author(s)
Sharma Subedi, Chandan
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Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Anuradha M. Annaswamy.
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MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582
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Abstract
Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (pages 43-44).
 
Date issued
2017
URI
http://hdl.handle.net/1721.1/113498
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

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