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On a relaxation of SPR condition in parallel MRAS-continuous-time case

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1 Author(s)
Tomizuka, M. ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

It is shown that the strict positive realness (SPR) condition for asymptotic stability of the continuous-time parallel model reference adaptive system (MRAS) can be removed provided that the parameter adaption law includes a proportional term and the information matrix is made sufficiently large. The present result a continuous-time counterpart of an earlier result (M. Tomizuka, ibid., vol.27, no.4, p.505-6, 1982) on the discrete-time parallel MRAS

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Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 10 )