A Convolution Bound Implies Tolerance to Time-variations and Unmodelled Dynamics

Abstract

Recently it has been shown, in several settings, how to carry out adaptive control for an LTI plant so that a convolution bound holds on the closed-loop behavior; this, in turn, has been leveraged to prove robustness of the closed-loop system to time-varying parameters and unmodelled dynamics. The goal of this paper is to show that the same is true for a large class of finite-dimensional, nonlinear plant and controller combinations.

arXiv commentThis version makes the controller structure more general and clarifies the details of the example in Section 5.2