NASA NTRS · 19890000115
Discrete-Time Model-Reference Adaptive Control
Abstract
Paper discusses stability of digital model-reference adaptive control (MRAC) of robotic system or plant that operates at discrete time steps. Command-generator tracker (CGT) concept, originally proposed for continuous-time systems, is applied in discrete-time setting, enabling relaxation of some restrictive assumptions that guarantee stability of system controlled according to resulting algorithm. Likely applications include systems in which sensors and actuators not placed together.
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Wen, John T., Meldrum, Deirdre R., Balas, Mark J.. 1989-03-01. Discrete-Time Model-Reference Adaptive Control. https://ntrs.nasa.gov/citations/19890000115
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