Adaptive controller design and disturbance attenuation for siso linear systems with noisy output measurements

Zigang Pan, Tamer Başar

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We address the worst-case adaptive controller design problem for uncertain single-input single-output linear systems with noisy output measurements, under the assumption that the (parametrically) unknown system is minimum phase with a known relative degree and unknown high-frequency gain of known sign. We first formulate this adaptive control problem as a nonlinear H control problem with imperfect state measurements, which then directly addresses transient performance and robustness of adaptive control systems. Then, by utilizing cost-to-come function analysis and integrator backstepping methodology, we derive explicit expressions for the worst-case adaptive controllers. Using a soft projection technique, we guarantee the bounded-input bounded-output property of the closed-loop system with respect to exogenous disturbance inputs without any assumption of persistency of excitation of the reference signal.

Original languageEnglish (US)
Title of host publicationECC 1997 - European Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952426906
StatePublished - Apr 8 1997
Event4th European Control Conference, ECC 1997 - Brussels, Belgium
Duration: Jul 1 1997Jul 4 1997

Publication series

NameECC 1997 - European Control Conference


Other4th European Control Conference, ECC 1997


  • Linear uncertain systems
  • Nonlinear H control
  • Robust adaptive control
  • Worst-case identification

ASJC Scopus subject areas

  • Control and Systems Engineering


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