Robust Adaptive Control Using Combined Direct and Indirect Methods

Abstract

A new approach, combining direct and indirect control methods, recently proposed by the authors [1,2] is used to adaptively control plants with unknown parameters. The plant parameters are known to lie in a specified compact set in parameter space and the output of the plant has to follow a desired output in the presence of a piecewise constant input disturbance. Simulation results indicate that the combined method performs better than either the direct or the indirect methods.