Model reference adaptive control of linear systems with input saturation

Abstract

This paper is concerned with the design of model reference adaptive control (MRAC) systems for linear systems with input saturation. An anti-windup adaptive law is proposed for asymptotically stable and stable first and second order systems. The MRAC systems are shown to be asymptotically stable. The conditions for asymptotic stability are studied for ranges of plant parameters. The effectiveness of the proposed method is demonstrated by experiments and numerical simulations.