Adaptive control for H∞ tracking of uncertain dynamical systems

An adaptive control is proposed for H∞ tracking of uncertain dynamical systems. A reference model which achieves a robust tracking in the presence of L2 disturbances is introduced by using H∞ control with transients. Then an adaptive control law is developed for uncertain dynamical systems, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed adaptive control in the presence of disturbances and uncertainties. An explicit error bound of tracking is also established.