Rate of convergence in model reference adaptive control

A new adaptive scheme for continuous-time model reference adaptive control systems is proposed. It is shown that this scheme allows us to increase the exponential rate of parameter convergence to an arbitrary, desired level subject to a sufficiently rich reference input and a sufficiently large adaptive gain, while retaining global stability of the overall system. For simplicity and brevity the results are presented for plants with known high-frequency gain k
p
.