Stability and Convergence Analysis of Direct Adaptive Inverse Control

In adaptive inverse control (AIC), adaptive inverse of the plant is used as a feed-forward controller. Majority of AIC schemes estimate controller parameters using the indirect method. Direct adaptive inverse control (DAIC) alleviates the adhocism in adaptive loop. In this paper, we discuss the stability and convergence of DAIC algorithm. The computer simulation results are presented to demonstrate the performance of the DAIC. Laboratory scale experimental results are included in the paper to study the efficiency of DAIC for physical plants.