European Control Conference 1995: Volume 3b

adaptive algorithm analysis applied approach approximation assume behaviour bounded closed loop complete computed consider constant constraints continuous control system convergence corresponding cost defined definite denote depends derived described desired determined developed disturbance dynamic equation error estimation example exists factor feedback Figure frequency function gain given gives identification IEEE initial input introduced Italy joint Lemma linear linear systems machine matrix measured method minimal neural network nonlinear Note observer obtained operator optimal output parameters performance plant poles polynomial positive possible presented problem procedure Proof proposed reduced reference represents respectively response robot robust satisfying shown shows signal simulation solution solved space specification stability step structure Theorem theory tion trajectory Trans uncertainty variables vector weighting zero