On globally stable adaptive control providing l1 tracking performance for linear discrete-time systems.

Existing adaptive control algorithms at best guarantee that the tracking error is a l2 sequence. This paper presents globally stable adaptive control algorithms for linear discrete-time systems providing l1 tracking performance. Two algorithms with different degree of complexity are proposed, one for the case of known control directions, and a separate algorithm for the case of unknown control directions. It is demonstrated that in both cases the tracking error is l1 sequence, while the input and output signals are uniformly bounded. [ABSTRACT FROM AUTHOR]