A new implementation of simple adaptive control for non-ASPR plants

The command generator tracker (CGT) approach to model reference adaptive control of linear time-invariant multi-input multi-output plants is considered. A new algorithm is proposed for controllable and observable plants which involves inserting supplementary dynamics in a feedback path inside the adaptive mechanism. These additional dynamics process the output error to form a signal which is multiplied by a new adaptive gain. This algorithm differs from other CGT adaptive control algorithm which require supplementary dynamics to be inserted in parallel with the plant. A generalized metastate representation of the closed-loop adaptive system is proposed. This representation is utilized together with Lyapunov's second method to prove the boundedness of the true error between the plant and model outputs in the presence of bounded plant input and output disturbances.<
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