Model Reference Adaptive Control with Integral Feedback Connections

Abstract

In this chapter, we design adaptive command tracking controllers using concepts from linear integral control. Such linear controllers can asymptotically reject constant disturbances and, at the same time, track constant commands with zero steady-state errors. In our attempt to further extend robustness and tracking properties of the linear integral controllers, we will develop and analyze an adaptive augmentation method to combine a baseline linear (Proportional + Integral) state feedback controller with an MRAC system. The adaptive augmentation design approach paves the way to transitioning adaptive controllers into industrial applications where legacy integral controllers are common practice.