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We propose a method for redesigning adaptive observers for nonlinear systems. The redesign uses an adaptive law that is based on delayed observers. This increases the computational burden, but gives significantly better parameter identification and robustness properties. In particular, given that a special persistency of excitation condition is satisfied, we prove uniform global asymptotic stability...
This paper revisits the multivariable model reference adaptive control (MRAC) problem, by studying adaptive state feedback control for output tracking of multi-input multi-output (MIMO) systems. With such a control scheme, the plant-model matching conditions are much less restrictive than those for state tracking, while the controller has a simpler structure than that of an output feedback design...
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