Optimization of the Time-Delay Margin of L1 Adaptive Controller via the Design of the Underlying Filter

Abstract

Recent papers have introduced a new paradigm for design of adaptive controllers that enables a priori prediction of performance bounds and also analytical quantification of the time-delay margin of the closedloop nonlinear system. In this paper, we revisit the main architecture from Refs. and consider several filter design methods for maximizing the time-delay margin, while retaining the same performance bounds.