ep8 - Anuradha Annaswamy: Adaptive Control - From the "Brave Era" to Reinforcement Learning and Back
inControl
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The Importance of Persistence of Excitation in Adaptive Control
The notion of persistence of excitation plays a fundamental role in adaptive control, right? Yes. The paper that, if you go back and read that paper written in 86, it really doesn't have any of the language that I'm using right now, but that's just another way of looking at it as to how the relation between persistent excitation and robustness manifests itself. So then it turns out that even when there are disturbances, this performance function that you're observing can be utilized in order to keep things in check. There is a very nice paper by Veria, Desover and Veria, I think. It basically showed that an unforced system with no external input will remain
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