Design and Analysis of a Novel L1 Adaptive Controller, Part II: Guaranteed Transient Performance

Abstract

In this paper, we present a novel adaptive control architecture that ensures that the input and output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to the asymptotic tracking. Design guidelines are presented to ensure that the desired transient specifications can be achieved for both system's input and output signals. The tools from this paper can be used to develop a theoretically justified verification and validation framework for adaptive systems. Simulation results illustrate the theoretical findings