An H∞ approach to robust adaptive control

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Conference Proceeding

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Robust adaptive control is investigated using the H∞ approach. An equivalent measure to the H∞- norm is adopted to quantify the unmodeled dynamics associated with adaptive estimation of the nominal model based on time-domain measurement data. Such an equivalent description for modeling errors allows H∞ optimization to be successfully used in adaptive control to achieve robust stability and performance comparable to H∞ control. The proposed adaptive control consists of the total least-squares (TLS) algorithm for adaptive model estimation, and H∞-loopshaping for adaptive controller design. Our results show that the proposed adaptive control system admits robust stability and performance asymptotically, provided that the estimated plant model converges. ©2007 IEEE.

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Proceedings of the IEEE Conference on Decision and Control

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