Filter Design for L1 Adaptive Output-Feedback Controller

초록

In this paper we exploit the connection between disturbance observer and L1 adaptive control theories. We consider L1 adaptive output-feedback control framework, for which the L1 reference controller is equivalent to the disturbance observer. Using this fact, we investigate several properties of the disturbance observer architecture, leading to various filter design methods towards verification of the stability conditions for the L1 adaptive output-feedback controller.