- Previous Article
- Next Article
- Table of Contents
IEEE Transactions on Automatic Control, Vol.44, No.11, 2238-2241, 1999
An example of a globally stabilizing adaptive controller with a generically destabilizing parameter estimate
In this note, we consider the question of whether an adaptive controller can converge to a nonadaptive stabilizing controller. Specifically, we show, for a class of back-stepping controllers with adaptive tuning functions, that the set of initial conditions in a state and estimation parameter for which the estimation parameter converges to a parameter which produces a destabilizing controller can have a nonempty interior and, consequently, a nonzero Lebesgue measure. This surprising result is proved by way of a simple example with a quadratic nonlinearity.
Keywords:SYSTEMS