Adaptive performance improvement in a robust control system

We develop an adaptive robust control law for linear systems with norm-bounded parameter uncertainties, which forms linear interpolation of a linear quadratic optimal control for the nominal system and a guaranteed cost control. The interpolation coefficient is tuned, based on the online information about the size of actual parameter uncertainties. The proposed control scheme overcomes the disadvantage of a linear robust control with a fixed gain in the sense that transient performance could be improved.