A NEW ADAPTIVE-CONTROL SCHEME WITH ARBITRARY NONLINEAR INPUTS

This paper presents a new analysis and design method for model referen ce adaptive control (MRAC) with arbitrary bounded input nonlinearities . The adaptive algorithm ensures that the closed-loop is locally stabi lized in the presence of unmodelled dynamic, bounded disturbances and nonlinear inputs. A modified MRAC scheme, which uses output error to c ompensate for the possible bad performances of the robust adaptive con trollers, is proposed to improve the transient and steady state perfor mances, and the ideal asymptotic properties of MRAC are not destroyed with a special feedback compensation.