A robust adaptive control system for poorly known large dimension plants

This paper presents a model reference adaptive controller for poorly known systems. The control algorithm is based on the concept of pole dominance in the frequency domain. Conditions for asymptotic stability are established without constraining the plant to be strictly positive real (SPR). It is shown that the proposed Dynamic Model Reduction (DMR) scheme is asymptotic stable inside of a relatively large neighborhood of the nominal plant dynamics. Simulation results illustrate the regulation and tracking outstanding performances of the proposed scheme.