Passification-Based Adaptive Control with Implicit Reference Model*

A brief survey of the passification method in adaptive control based on applying the Yakubovich-Kalman-Popov Lemma to adaptive control systems is presented. The basics of the method were established in 1974 in the paper Fradkov, A. L. (1974). Design of an adaptive system of stabilization of a linear dynamic plant. Autom. and Rem. Control, (12), 1960–1966. Various types of the adaptive control systems with implicit reference model such as the systems of stabilization and tracking with the prescribed dynamics, systems with adaptive tuning of the low order control laws, and combined signal-parametric system are described. Description of the shunting method in the adaptive control problem is given. Some experimental adaptive control results for the “Helicopter” benchmark are described.