On robustness of L1 adaptive control with time varying perturbations filter design

摘要

In this paper, stability and performance robustness of L1 adaptive control for a class of LTI systems with time varying perturbations is considered. We derive a lower bound on the time delay margin at the input independent of the adaptation gain. Then, we present a systematic way to design a filter for which the desired performance and time delay margin is guaranteed. We show how this filter design can be captured as a stability robustness problem in l1 robust control theory framework.