Discrete time adaptive control for classes of nonlinear systems

In this paper we consider two aspects of adaptive control. Firstly we assume that the unknown plant is linear and examine the effect of a strict inequality constraint on the control. Secondly we study the convergence properties of restricted complexity adaptive controllers when applied to nonlinear systems. Basically we are able to show that if the controller is capable of satisfactorily controlling the system then the adaptive version will find a satisfactory controller.