A discrete stable robust MRAC design with an extra adaptation parameter (Q1097854)

The author extends some of his results that were presented in a previous paper [the author and \textit{C. Gil-Aguirrebeitia}, IEE Proc. D 134, 145- 152 (1987)]. In that work he presented a design for a stable model reference adaptive control scheme. He used the idea of an extra adaptation parameter with an adaptation dead zone with on line adjustments to guarantee stability. In this work he also uses that extra parameter, but the use of the adaptation dead zone is not needed. The basic results are presented in the statement of Theorem 1. According to his results the scheme is stable for a big class of unmodelled dynamics. It is asymptotically stable in the case that the adaptation error decreases when the contribution of the unmodelled dynamics is decreasing. And this is a fairly reasonable assumption, which nevertheless has to be examined carefully.