Abstract
In this paper we design a robust model reference adaptive control (RMRAC) scheme for the single input, single output, continuous time LTI plants of arbitrary relative degree in the presence of unknown deterministic disturbances and unmodeled dynamics. The design is based on robust dynamic certainty equivalence (R-DyCE) which is from the key idea of Morse's DyCE adaptive controller[3]. There arc two main feature of the proposed RMRAC scheme:(1) the use of a fixed compensator in the error feedback loop to attenuate the effect of disturbances on the tracking error and to achieve robust stability in the presence of unmodeled dynamics, and (2) the use of a high-order estimator with σ-modification to ensure the global stability of the adaptive system.
