Adaptive state-feedback controller

Abstract

In this chapter, we derive a swapping-based state-feedback controller for the n+ 1 -system (13.1) with constant coefficients, under assumptions (13.7), (13.9) and (13.11). The goal is to design a control law U(t) in (13.1d) so that system (13.1) is adaptively stabilized when the parameters (Formula Presented) are unknown. Note that σiT, i= 1, …, n are the rows of the matrix Σ. The control law employs full state-feedback, and the practical interest of the controller is therefore limited, since distributed measurements are at best a coarse approximation in practice. This problem was originally solved in Anfinsen and Aamo (25th mediterranean conference on control and automation, Valletta, Malta, 2017).