Stability overlay for adaptive control laws

Paulo Rosa, Jeff S. Shamma, Carlos Silvestre, Michael Athans

Research output: Contribution to journalArticlepeer-review


This paper proposes an architecture referred to as Stability Overlay (SO) for adaptive control of a class of nonlinear time-varying plants. The SO can be implemented in parallel with a wide range of "performance-based" adaptive control laws, i.e., adaptive control laws that seek to improve closed-loop performance, but may be susceptible to instability in the presence of unaccounted model uncertainty. In this architecture, the performance-based adaptive control law designates candidate controllers based on performance considerations, while the SO supervises this selection based upon online robust stability considerations. A particular selection of a performance-based adaptive control law is not specified. Rather, this selection can be from a wide range of adaptive control schemes. This paper provides stability proofs for the SO architecture and presents a simulation that illustrates the applicability of the proposed method.

Original languageEnglish (US)
Pages (from-to)1007-1014
Number of pages8
Issue number5
StatePublished - May 2011
Externally publishedYes


  • Robust adaptive control
  • Robust stability
  • Time-varying systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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