Improving transient behavior of model-reference adaptive control

This paper develops a new approach for the model-reference adaptive control scheme and analyzes its stability and transient behavior. The main idea of the new algorithm is the introduction of a lead-filter (an approximate inverse of the reference model) in the adaptation law. With respect to stability and transient tracking properties, the results achieved by the new algorithm are considerably superior when compared to the standard algorithm. The transient behavior is analyzed using the singular perturbation method.

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