Robust stable pole-placement adaptive control of linear systems with multiestimation

This paper is concerned with a robust pole placement-based adaptive control of continuous linear systems in the presence of bounded noise and a common class of unmodeled dynamics with the use of multiple estimation schemes working in parallel. The multiestimation scheme consists of the above set of various single estimation schemes while being a tool used to minimize the plant identification error by building an estimate which is a convex combination of the estimates at all time. The weighting functions of the individual estimates are provided at each time by a suboptimization scheme for a quadratic loss function The robust stability of the overall adaptive scheme is ensured by an adaptation relative dead zone which takes into account the contribution of the unmodeled dynamics and bounded noise.