Robust adaptive control using combined direct and indirect methods.

An approach combining direct and indirect control methods, recently proposed by the authors, is used to control plants with unknown parameters adaptively. The plant parameters are known to lie in a specified compact set in a parameter space and the output of the plant has to follow a desired output in the presence of a piecewise-constant input disturbance. Simulation results indicate that the combined method performs better than either the direct or the indirect methods.