{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/113498"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/113498","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint","abstract":"Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis.","abstract_html":"Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis.","abstract_has_math":false,"creators":["Sharma Subedi, Chandan"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Anuradha M. Annaswamy."],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017","date_published":"2017","updated_at":"2026-07-22T22:22:32Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/113498","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Anuradha M. Annaswamy."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Department of Mechanical Engineering."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Department of Mechanical Engineering."]},{"key":"dc:creator","label":"Author","values":["Sharma Subedi, Chandan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2018-02-08T16:26:33Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2018-02-08T16:26:33Z"]},{"key":"dc:date.issued","label":"Date","values":["2017"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mechanical Engineering."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/113498"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.","Cataloged from PDF version of thesis.","Includes bibliographical references (pages 43-44)."]},{"key":"dc:description.abstract","label":"Abstract","values":["Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.B."]},{"key":"dc:title","label":"Title","values":["Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint"]}]}],"canonical_facts":{"dc:contributor.advisor":["Anuradha M. Annaswamy."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Department of Mechanical Engineering."],"dc:creator":["Sharma Subedi, Chandan"],"dc:date.accessioned":["2018-02-08T16:26:33Z"],"dc:date.available":["2018-02-08T16:26:33Z"],"dc:date.issued":["2017"],"dc:description":["Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.","Cataloged from PDF version of thesis.","Includes bibliographical references (pages 43-44)."],"dc:description.abstract":["Recently, it was shown that a standard model reference adaptive controller modified with a suitably tuned projection algorithm ensures robustness (global boundedness) of the overall adaptive system to a class of unmodeled dynamics with minimal restrictions. However, extensive first-principle based arguments and/or analysis of the parameter trajectory is employed. An alternative to such analysis, albeit approximate, is to use the well-known Describing Function (DF) method. In doing so, the analysis of the robust adaptive control problem becomes tractable and resembles that of familiar and classical linear stability analysis."],"dc:description.degree":["S.B."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/113498"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Mechanical Engineering."],"dc:title":["Robustness of adaptive control systems to unmodeled dynamics : a describing function viewpoint"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:22:32Z"}