Adaptive Robust Control

In this dissertation we present a novel approach to the problem of adaptive robust control. The essential idea involved is to fragment the modeling uncertainty in a physical plant into "small" families of plant models for which robust linear time-invariant controllers can be readily designed. We then implement a convex combination of these controllers, the parameters of which are tuned based on error measurements. Using this approach, we are able to provide absolute bounds on the ability to adaptively stabilize against unmodeled dynamics.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Cusumano, Salvatore Joseph

• Engineering, Electronics and Electrical

Identifier

(UMI)AAI8908661

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/69409