Simplified adaptive control via improved robust positive real conditions

I. Yaesh*, U. Shaked

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A new method is derived for embedding plants in a robust state-feedback scheme, to achieve strictly positive realness of the resulting augmented plants. A state-feedback gain is derived that guarantees the strictly positive realness of the closed-loop in presence of polytopic type, possibly time-varying, parameter uncertainties in the model that describes the plant. This is achieved by assigning different Lyapunov functions to each of the vertices of the uncertainty polytope. The obtained feedback gain is used to apply existing methods for robust simplified adaptive control on systems with possibly time-varying polytopic uncertainties.

Original languageEnglish
Pages (from-to)1033-1040
Number of pages8
JournalSystems and Control Letters
Issue number12
StatePublished - Dec 2006


  • Robust SPR
  • SAC
  • Simplified adaptive control
  • Strictly positive real lemma


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