Performance improvement in discrete-time model reference adaptive control

In this paper, Nve propose a modified adaptive control law to improved the performance in discrete-tinie model reference adaptive control with bounded input disturbances. The modified adaptive law is directly derived using the factorization approach. Comparing Nvith the existing method [2], the modified NRAC law presented in this paper is based on the direct NRAC scheme, and, the choice of the fixed compensator is given explicitly, and the improved performance is evaluated.