A simple (intelligent?) adaptive controller

What is it about?

Modern control systems, like nonlinear, adaptive, or intelligent use nonstationary controllers. They try to adapt their controllers to the specific conditions imposed by plant uncertainties or changing external environments, so that the performance and stability of the control system is maintained. Nonstationary controllers raise, however, new problems related to eventual instability even under the same conditions that would guarantee stability with fixed controllers. This paper presents a short tutorial on simple adaptive controllers based on the stabilizability properties of the plants. It has been shown that these basic properties can be used to implement simple and robust nonlinear adaptive controllers, and that the conditions usually required for stability of adaptive controllers may be overly restrictive.

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