A NEW ROBUST CONTROLLER OF MRAC SYSTEMS WITH REDUCED MODELS
具有降阶模型的 MRAC 系统的鲁棒控制器设计

This paper proposes a now direct adaptive algorithm truncate modification,which is de-signed on the basis of the reduced order plant,but guarantees the robustness of the trackingerror between the outputs of the reference model and the with unmodelled dynamics.It is shownthat,even for some high frequency reference inputs,the algorithm guarantees the boundednessof all signals in the adaptive loop and the expected precision of the tracking error,if the un-modelled dynamics are sufficiently small.In the absence of unmodelled dynamics,the residu-al tracking error is shown to be zero.