Stable iterative adaptive control

Abstract

The authors introduce the concept of iterative adaptive control and formulate an iterative adaptive control algorithm. The controller iterations must satisfy certain convergence and continuity assumptions for the closed-loop system stability, but only one step controller iteration is required for each new parameter update. This results in a considerable reduction in real-time computational load. The algorithm is presented in a general form and then applied to an adaptive LQ (linear quadratic) regulator.