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We present a direct adaptive control algorithm which is robust with respect to external plant disturbances. In the presence of constant disturbances, or time-dependent disturbances which eventually approach a constant, this algorithm ensures that the tracking error approaches zero asymptotically. For general time-varying bounded distances, the (norm of the) tracking error will be asymptotically reduced...
The so-called e1-modification law proposed by Narendra and Annaswamy (1987) has been studied through a prototype adaptve control system, with a single unknown pole and an unknown constant disturbance at its input. This paper reveals that using this law in the case of regulation the system possesses multiple equilibria and undergoes various bifurcations.
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