A Design of Decentralized Robust Model Reference Adaptive Control System

This paper presents a decentralized robust model reference adaptive control design for continuous time linear time invariant interconnected large-systems in the presence of" disturbances and/or unmodeled dynamics. The scheme of adaptation is based on the concept of dynamic certainty equivalence (DyCE) and incorporates the design of a decentralized fixed(non-adaptive) compensator in the error feedback loop. The fixed compensator is used to attain the strictly properness of an error transfer function matrix against the cross-coupling and unmodeled dynamics effects, furthermore it can realize the high performance of a tracking. The key features of our control design are: (1) use of H∞minimization design for the decentralized fixed compensator, and (2) use of a robust high-order estimator with a-modification for the effects of cross-coupling.