Global stability for an MIT rule based adaptive control

It is shown that a linear time-invariant system can be adaptively stabilized in the presence of unmodeled dynamics and bounded disturbances, using the MIT rule for adaptive control. The result implies that it is not necessary to use an identification-based approach to adaptive control in order to construct robust adaptive control algorithms. The stability condition requires that the unmodeled dynamics has a small gain property and that the adaptation speed is small.<>