Robust Simple Adaptive Control with Relaxed Passivity and PID control of a Helicopter Benchmark∗

The paper is dedicated to experimenting a simple LMI procedure to design simple adaptive control laws for ’almost stable’ systems. The procedure initially conceived for regulation problems around zero equilibrium point is extended to PID like tracking control problem. LMI results gives conditions to guarantee robustness of the simple adaptive control law with respect to parametric uncertainties. Experiments are done on a 3D helicopter benchmark.