Stability Margins of L1 Adaptive Controller: Part II
Abstract
In Part I of this paper, we have developed a novel L1 adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. In this paper, we derive the stability margins of L1 adaptive control architecture, including time-delay and gain margins in the presence of time-varying bounded disturbance. Simulations verify the theoretical findings.
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