5. Conclusion

The aim of this article was to provide an overview of adaptive control based on an engineer's reading of the literature in the field. A general structure of the underlying control system was used for this purpose. Commonly used synthesis methods have been presented in a unified way, starting from the objective of optimal control on the elusive horizon. The concept of a partial-state reference model was used to specify tracking and control dynamics independently. Quantifiers for nominal performance and robust stability were defined, based on the usual sensitivity functions for linear control systems. An appropriate parametric adaptation algorithm to obtain a conservative adaptive control system has been presented. In this way, controller self-tuning or automatic controller calibration can be performed if required under a certain supervisory logic designed to ensure the integrity of the control...