This technical note presents the L1 adaptive control architecture for systems in the presence of unknown high-frequency gain with known sign, time-varying unknown parameters and disturbances. The L1 adaptive controller leads to uniform performance bounds for the system's input and output signals, which can be systematically improved by increasing the adaptation rate. For constant unknown parameters, this result leads to analytically computable time-delay margin of a semiglobal nature.

Original languageEnglish (US)
Article number5373895
Pages (from-to)480-487
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - Feb 2010


  • Adaptive control
  • Guaranteed transient
  • Stability margins

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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