An Analytical Comparison between the weighted LQ performance of a robust and an Adaptive Backstepping Design.
IEEE Transactions on Automatic Control, 47, (4), .
A robust and an adaptive backstepping design for an uncertain strict feedback system are compared with respect to a cost functional which is based on an instantaneous quadratic penalty measuring both the output transient and the control effort. It is shown that the adaptive design outperforms the robust design when the actual uncertainty level is sufficiently high and the a-priori known uncertainty level is sufficiently conservative.
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