In this paper, the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described by a partial, rather than ordinary, differential equation. The MRAC problem is formulated as an initial value problem of coupled partial and ordinary differential equations in weak form. The well-posedness of the initial value problem is proved. The control law is derived by using the Lyapunov redesign method on an infinite dimensional Hilbert space. Uniform asymptotic stability of the closed loop system is established, and asymptotic tracking, i. e., convergence of the state-error to zero, is obtained. With an additional persistence of excitation condition for the reference model, parameter-error convergence to zero is also shown. Numerical simulations are provided.
Related to the error dynamics of an adaptive system, averaging theorems are developed for coupled differential equations which consist of ordinary differential equations and a parabolic partial differential equation. The results are then applied to the convergence analysis of the parameter estimate errors in the model reference adaptive control of a nonautonomous parabolic partial differential equation with lowly time-varying parameters.
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