Many systems must operate in the presence of bounded perturbations. In this paper we present a new robustness result for nonlinear systems. We use this result to show that for bounded perturbations, a simple adaptive controller with leakage can produce output regulation to a neighborhood with radius dependent upon the size of the perturbation. This regulation occurs in the presence of persistent disturbances and the convergence is exponential.
Volume Subject Area:
Modeling, Simulation and Control
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