This paper is humbly dedicated to Prof. Petros Ioannou in celebration of his 60th birthday.
Robust Adaptive Control: Legacies and Horizons
An output regulation perspective on the model reference adaptive control problem†
Version of Record online: 20 SEP 2012
Copyright © 2012 John Wiley & Sons, Ltd.
International Journal of Adaptive Control and Signal Processing
Special Issue: Robust Adaptive Control: Legacies and Horizons
Volume 27, Issue 1-2, pages 22–34, January-February 2013
How to Cite
Serrani, A. (2013), An output regulation perspective on the model reference adaptive control problem. Int. J. Adapt. Control Signal Process., 27: 22–34. doi: 10.1002/acs.2340
- Issue online: 7 JAN 2013
- Version of Record online: 20 SEP 2012
- Manuscript Accepted: 31 AUG 2012
- Manuscript Received: 24 AUG 2012
- model reference adaptive control;
- output regulation;
- internal model;
- system immersion
The paper presents a connection between the classic model reference adaptive control and recent developments in the theory of adaptive output regulation. Specifically, it is shown how the certainty–equivalence model reference controller realizes an internal model of an extended exogenous system comprising the zero dynamics of the plant driven by the steady-state trajectories of the reference model. Furthermore, the classic nonminimal realization of the certainty–equivalence controller required for adaptive redesign is equivalent to a canonical parameterization of the internal model in question, achieved via a nonobservable (but detectable) system immersion.Copyright © 2012 John Wiley & Sons, Ltd.