A Design Method of Model Reference Adaptive Control Systems with Uncertain Relative Degrees

Abstract

A design method of model reference adaptive controllers for unknown systems with uncertain relative degrees, is presented in this paper. Contrary to the previous researches on model reference adaptive control systems where it was assumed that the relative degrees of controlled systems are exactly known, the relative degrees in the present paper are partly unknown; that is, the relative degrees are known to be r, r+1, or r+2; r is known, but which the relative degrees are, cannot be specified. It is shown that single adaptive control schemes can deal with such uncertainties of relative degrees and that the resulting adaptive control systems are uniformly bounded and the tracking errors converge to zero asymptotically.