Corrections -- January 30, 2000

Adaptive Control: Stability, Convergence, and Robustness

p. 12, line 11: in eqn (0.3.5), replace "(θ r )" by "(r )"
p. 13, line 17: replace "Note that (0.3.15)" by "Note that (0.3.14)"
p. 22, line 14: in eqn (1.4.9), replace the lower limit of the integral, "0", by "t 0"
p. 22, line 16: replace "(1.3.7)" by "(1.4.7)"
p. 24, line 17: replace "for all t ≥ 0" by "for all t ≥ t 0 ≥ 0"
p. 37, line 5: in eqn (1.5.53), replace "φ(t + δ, t )" by "Φ(t + δ, t )"
p. 37, line 18: in eqn (1.5.56), replace "≤ 0" by "≥ 0"
p. 39, line 1: in eqn (1.5.61), replace "d τ" by "d σ"
p. 45, line 16: in eqn (2.0.3), replace "y (t )" by "yp (t )"
p. 48, line 18: in eqn (2.0.18), replace "e 12 (τ)" by "(θT (t ) w (τ) − yp (τ) )2"
p. 48, line 21: in eqn (2.0.19), replace "e 12 (τ)" by "(θT (t ) w (τ) − yp (τ) )2"
p. 50, line 5: in eqn (2.0.28), replace "P (0) = P 0" by "P (0) = P (0)T = P 0"
p. 50, line 7: in eqn (2.0.29), replace "w (t ) w T (τ)" by "w (τ) w T (τ)"
p. 50, line 7: in eqn (2.0.29), replace "P 0" by "P 0−1 " at both places
p. 50, line 9: in eqn (2.0.30), replace "P 0" by "P 0−1 " at both places
p. 50, line 9: in eqn (2.0.30), replace "dt " by "d τ"
p. 51, line 18: in eqn (2.0.38), replace "am + km b 0(t )" by "am − km b 0(t )"
p. 51, line 19: in eqn (2.0.38), replace "(b 0(t ) − b 0* )" by "km (b 0(t ) − b *0 )"
p. 52, line 3: in eqn (2.0.41), replace "am e 1" by "am e 12 "
1 1
p. 64, line 15: replace "− hh g " by "− hhh "
2 2g
p. 66, line 19: delete "that is the projection can only improve the convergence of the algorithm"
d (P −1 ) d (P −1 )
p. 67, line 21: in eqn (2.4.9), replace " hhhhhhh " by " c c hhhhhhh c c "
dt dt
p. 68, line 27: in eqn (2.4.13), replace "β(t )" by " c β(t ) c " at both places
p. 69, line 1: replace "β" by " c β c "
p. 74, line 4: replace "[A , C ]" by "[C , A ]"
p. 74, line 7: replace "[A + KC , C ]" by "[C , A + KC ]"
p. 74, line 16: replace "[0, w T (t )]" by "[w T (t ), 0]"
p. 74, line 17-18: replace "[− g w (t ) w T (t ), w T (t )]" by "[w T (t ), − g w (t ) w T (t )]"
p. 83, line 2: replace "Re(M̂ (j ω)" by "Re(M̂ (j ω))"
p. 83, line 3: replace "Re(M̂ (j ω)" by "Re(M̂ (j ω))"
p. 84, line 2: replace "c T " by "c T (t )"
 -2-

p. 88, line 13: replace [A , c T ] by [c T , A ]

1
p. 88, line 18: replace "Using the triangle inequality" by "Using the fact that (a − b )2 ≥ hh a 2 − b 2"
2
p. 88, last 3 lines: insert factors of 1/2 as follows
t0 + δ t0 + m σ t0 + m σ
1
∫ e 12 (τ ) d τ ≥ hh ∫ x 12 (τ ) d τ − ∫ x 22 (τ ) d τ
t 2 t t
0 0 0

t0 + δ t0 + δ
1
+ hh ∫ x 22 (τ ) d τ − ∫ x 1 (τ ) d τ
2
2 t0 + m σ t0 +m σ

1
≥ hh γ3(m σ) c em (t 0) c 2 − m α2 c φ(t 0 ) c 2
2

1
p. 89, line 1: in eqn (2.6.38), replace "n α1" by " hh n α1"
2
1 −γ m σ
p. 89, line 3: adjust eqn (2.6.39) to read " hh γ3(m σ) − γ1 e 2 ≥ γ3(m σ) / 4"
2
1
p. 89, line 5: in eqn (2.6.40), replace "n α1" by " hh n α1"
2
p. 89, line 7: in eqn (2.6.41), replace "γ3 (m σ)/2" by "γ3 (m σ)/4"
kp kp
p. 101, line 4: replace " hhhhhh M̂ (φr r + φy yp )" by " hhhhhh (φr r + φy yp )"
s + am s + am
p. 114, line 10: in eqn (3.3.17), replace "+ ε(t )" by "− ε(t )"
p. 138, line 5: in eqn (3.5.27), replace "e 1" by "e 0"
p. 143, line 31: in the equation giving c φT (t ) v (t ) c , replace "β(t )" by " c β(t ) c " at both places
p. 148, line 9: replace "theorem 2.4.6" by "proposition 2.4.6"
p. 148, line 14: replace "the same conditions as β" by "the same conditions as c β(t ) c "
p. 155, line 8: replace "lemma 2.6.6" by "lemma 2.6.7"
p. 155, line 10: replace "lemma 2.6.5" by "lemma 2.6.6"
p. 161, line 12: in the title, replace "Sale" by "Scale"
p. 163, line 22: in eqn (4.1.30), replace "P̂ (z )" by "P̂ (r )"
p. 247, line 1: in eqn (5.5.49), replace "− ε r (t )" by "− g r (t )"
p. 247, line 13: in the caption for Fig. 5.15, replace "r 1(t )" by "r 1(t ) = sin(5t )"
p. 271, line 21: replace "φ(t ) → 0 as t → 0" by "φ(t ) → 0 as t → ∞"
p. 282, line 5: in proposition 6.3.1, delete "Let D̂R be column reduced and D̂L be row reduced"
p. 282, line 16: in the proof of proposition 6.3.1, delete "and D̂R column reduced"
p. 283, line 11: replace "ξ̂ ∈ R pxp (s )" by "ξ̂ ∈ R pxp [s ]"
p. 284, line 10: replace "Morse [1979]" by "Morse [1976]"
p. 288, line 27: replace "D̂L row reduced" by "D̂L column reduced (such a matrix fraction description
always exists (cf. Beghelli S. & R. Guidorzi, ‘‘A New Input-Output Canonical Form for Multivariable
Systems,’’ IEEE Trans. on Autom. Control, vol. 21, pp. 692-696, 1976)"
 -3-

T
d " by "w
p. 290, line 5: in eqn (6.3.22), replace "w d "
p. 338, line 1: in eqn (A3.6.5), replace "t r − k " by "t r − k "
p. 338, line 15: under "Derivation of (A3.6.10)", insert "When r = 0, u (t ) = z (t ), so that (A3.6.10) is
trivially true. When r > 0," (we have that ...)
t t
p. 339, line 1: in eqn (A3.6.12), replace " ∫
−∞
" (the first integral) by "∫"
0
p. 339, line 12: in eqn (A3.6.15), replace ":=" by "≤"
p. 341, line 14: replace "β(t )" by " c β(t ) c " at both places
p. 356, line 10: in eqn (A6.2.13), replace "m ( exp − α −(t − τ ))" by " m e − α (t − τ) "
p. 360, line 37-38: the title of the paper should be "Exponential Convergence and Robustness Margins
in Adaptive Control" instead of "Small Signal..."
p. 366, line 22: insert Luders, G., & K.S. Narendra, "An Adaptive Observer and Identifier for a Linear
System," IEEE Trans. on Automatic Control, Vol. AC-18, no. 5, pp. 496-499, 1973.