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A robust discrete-time adaptive control approach for systems with almost periodic time-varying parameters



A periodic adaptive control approach is proposed for a class of nonlinear discrete-time systems with time-varying parametric uncertainties which are almost periodic, and the only prior knowledge is the periodicity. The new adaptive controller updates the parameters and the control signal periodically in a pointwise manner over one entire period, in the sequel that achieves a bounded tracking convergence. The result is further extended to scenarios with unknown input gain, higher order dynamics, and tracking. Copyright © 2012 John Wiley & Sons, Ltd.