A parameter estimation perspective of continuous time model reference adaptive control

Abstract The problem of adaptive control of continuous time deterministic dynamic systems is re-examined. It is shown that the convergence proofs for these algorithms may be decomposed into “modules” dealing with estimation and control, yielding a “key technical lemma” analogous to that used successfully in the study of discrete time systems. The extra freedom provided by the modular structure is used to formulate existing algorithms in a common framework and to derive several new algorithms. It is also shown how least squares, as opposed to gradient, estimation can be used in continuous time adaptive control.

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