Strong robustness in multi-phase adaptive control: the basic scheme

The general structure of adaptive control systems based on strong robustness is introduced. This approach splits into two phases. In the first phase, emphasis is put on identification until enough information is obtained in order to design a controller that stabilizes the actual system, and even under adaptation. This is achieved if the input sequence is computed in such a way that the uncertainty on the parameters of the system to be controlled becomes sufficiently small. Then, in the second phase, effort is shifted to control via a traditional certainty equivalence type of strategy.