MODEL-REFERENCE ADAPTIVE-CONTROL SYSTEMS WITH TERMINAL SLIDING MODES

The design of a model reference adaptive controller with terminal slid ing modes, while only input and output measurements are available, is discussed in this paper. In terminal sliding modes, the equilibrium po int is reached in a finite time. By employing terminal sliding modes, the model reference adaptive controller enables the error dynamics to reach zero in a finite time. State variable filters are used to obtain differentiator-free controllers. Simulation results are presented to confirm the discussion.