Filter Design for Feedback-loop Trade-off of L_1 Adaptive Controller: A Linear Matrix Inequality Approach

Abstract

This paper presents a convex optimization method for the feedback-loop tradeoff of L1 adaptive controller. Both problems of performance improvement and time-delay margin maximization are shown to be cast into Linear Matrix Inequality (LMI) type conditions. First, each of these conditions is studied separately towards a distinct objective, and next two similar LMI algorithms are proposed for optimization of one of the objectives with a prespecified constraint on the other.