European Control Conference 1991: Volume 2

adaptive control algorithm analysis application approach approximation assumed bounded closed complex components computed condition considered constant constraints continuous control law control system converter corresponding defined denoted depends described developed discrete disturbance drive dynamics elements equation error estimation example exists feedback Figure filter France frequency function gain given identification IEEE implemented input INTRODUCTION Italy known linear linear system load loop matrix means measurement method minimal mode motor nonlinear observer obtained operator optimal output parameter performance phase plant polynomial positive possible predictive present problem recursive reference regulation respect response robot robust sampling satisfies shown signal simulation solution speed stability step strategy structure switching Theorem theory tion torque tracking transfer University variables vector voltage zero