Continuous direct adaptive control with saturation input constraint

This note establishes global boundedness and control tracking properties of a continuous-time direct adaptive controller subject to an input saturation constraint. Under a finite gain stability condition on a nonadaptive controller using the true plant parameters, global stability of the adaptive version of the controller is established. It is also shown that the adaptive controller can account for modeling uncertainties and limited disturbances, hence providing a certain degree of robustness.<
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