L1 adaptive control with proportional adaptation law

Justin Vanness, Evgeny Kharisov, Naira Hovakimyan

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


This paper presents an L1 adaptive state feedback controller with proportional adaptation law for a class of linear systems with input-gain uncertainties and unmatched nonlinear disturbances. The proportional adaptation law provides an adaptive estimate that is directly proportional to the error between the output of the system and the state predictor. One of the advantages of this new adaptation law is the additional phase margin in the estimation loop, which allows for modification of the state predictor towards accommodating first order sensor dynamics. An additional benefit is the reduction of the required computational resources, since the error bounds reduce at a rate directly proportional to the adaptation gain as compared to the square root of the adaptation gain achieved by the L1 adaptive controllers using gradient descent adaptation laws. Simulations verify the theoretical findings.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
Number of pages6
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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