Robust indirect adaptive regulation algorithm with self-excitation capability

[[abstract]]In this note, we present a robust version of the adaptive control algorithm established by Kreisselmeier [I]. We know that if the conventional dead-zone adaptive law is used in the adaptive system, it is troublesome that the size of the unmodeled dynamics, denoted by ε, must be within the chosen dead-zone size for robustness. In this robust version, by introducing a positive design parameter ε over-bar , the robust stability can be achieved without this constraint. It is also shown that the plant output and control input will converge asymptotically within a bound proportional to max {ce, ε over-bar } = εm, where c is a finite positive constant. Moreover, in the ideal case (i.e., ε = 0), the plant output and control input will converge to zero under some condition.[[department]]電機工程學