Design of robust adaptive control system using robust high-order estimator

This paper presents a new control design for a single input, single output, continuous time linear time invariant plant in the presence of deterministic disturbances. A novel robust model reference adaptive control scheme is proposed. The scheme is based on the concept of dynamic certainty equivalence and incorporates the design of a fixed compensator in the error feedback loop. The fixed compensator is used to attenuate the effect of disturbances and the dynamic certainty equivalent adaptive controller improves the transient performance. The key features of our control design are: (i) use of H_∞ design for the fixed compensator, and (ii) use of a robust high-order estimator with dead-zone modification technique.