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FAILURES OF ADAPTIVE CONTROL THEORY AND THEIR
RESOLUTION
BRIAN D. O. ANDERSON
Dedicated to Professor Thomas Kailath on his 70th birthday
Abstract. Adaptive control is a very appealing technology, at least in principle. Yet its use
has been conditioned by an attitude of distrustfulness on the part of some practitioners. In this
paper, we explain why such distrustfulness is warranted, by reviewing a number of adaptive control
approaches which have proved deficient for some reason that has not been immediately apparent.
The explanation of the deficiencies, which normally were reflected in unexpected instabilities, is our
main concern. Such explanations, coupled with remedies for avoiding the deficiencies, are necessary
to engender confidence in the technology. These include the unpredictable failure of the MIT rule
the bursting phenomenon, and how to prevent it the Rohrs’ counterexample, which attempted to-FAILURES OF ADAPTIVE CONTROL THEORY AND THEIR
RESOLUTION
BRIAN D. O. ANDERSON
Dedicated to Professor Thomas Kailath on his 70th birthday
Abstract. Adaptive control is a very appealing technology, at least in principle. Yet its use
has been conditioned by an attitude of distrustfulness on the part of some practitioners. In this
paper, we explain why such distrustfulness is warranted, by reviewing a number of adaptive control
approaches which have proved deficient for some reason that has not been immediately apparent.
The explanation of the deficiencies, which normally were reflected in unexpected instabilities, is our
main concern. Such explanations, coupled with remedies for avoiding the deficiencies, are necessary
to engender confidence in the technology. These include the unpredictable failure of the MIT rule
the bursting phenomenon, and how to prevent it the Rohrs’ counterexample, which attempted to
RESOLUTION
BRIAN D. O. ANDERSON
Dedicated to Professor Thomas Kailath on his 70th birthday
Abstract. Adaptive control is a very appealing technology, at least in principle. Yet its use
has been conditioned by an attitude of distrustfulness on the part of some practitioners. In this
paper, we explain why such distrustfulness is warranted, by reviewing a number of adaptive control
approaches which have proved deficient for some reason that has not been immediately apparent.
The explanation of the deficiencies, which normally were reflected in unexpected instabilities, is our
main concern. Such explanations, coupled with remedies for avoiding the deficiencies, are necessary
to engender confidence in the technology. These include the unpredictable failure of the MIT rule
the bursting phenomenon, and how to prevent it the Rohrs’ counterexample, which attempted to-FAILURES OF ADAPTIVE CONTROL THEORY AND THEIR
RESOLUTION
BRIAN D. O. ANDERSON
Dedicated to Professor Thomas Kailath on his 70th birthday
Abstract. Adaptive control is a very appealing technology, at least in principle. Yet its use
has been conditioned by an attitude of distrustfulness on the part of some practitioners. In this
paper, we explain why such distrustfulness is warranted, by reviewing a number of adaptive control
approaches which have proved deficient for some reason that has not been immediately apparent.
The explanation of the deficiencies, which normally were reflected in unexpected instabilities, is our
main concern. Such explanations, coupled with remedies for avoiding the deficiencies, are necessary
to engender confidence in the technology. These include the unpredictable failure of the MIT rule
the bursting phenomenon, and how to prevent it the Rohrs’ counterexample, which attempted to
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