This paper presents an adaptive control methodology for a class of systems in the presence of unknown time- varying parameters, time-varying disturbances and unmodeled actuator dynamics. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the speed of adaptation.
['Chengyu Cao', 'Naira Hovakimyan']
L 1 adaptive controller for systems in the presence of unmodelled actuator dynamics