Abstract: This research is devoted to the robust stability analysis of adaptive generalized predictive control(GPC) systems in the presence of unmodeled dynamics,time-varying parameters,nonlinearities and bounded disturbances. A general approach for designing and the theory for analysing robust adaptive GPC systems are presented. The design approach involves the development of a robust adaptive law which has less restrictive properties(the robust stability properties A5 A7)and the use of certainty equivalence principle to combine it with robust GPC structures,The global stability properties and robustness of the developed adaptive control schemes are established by using a general theory, which requires the properties of signals to be asymptotically small only in the mean sense over intervals of time and provides weak sufficient conditions that guarantee the robust stability of the adaptive control systems.

Key words: adaptive control, robustness(mathematics), parameterization, model referenceadaptive control