Abstract
This paper addresses the robust adaptive control under the presence of bounded disturbances. It considers a model reference adaptive control system. It is well known that ideal adaptive laws do not perform so well in the presence of disturbances; in fact, they can make the system unstable. To overcome this unwanted feature, the adaptive laws have been modified to withstand the disturbances and make the adaptive system robust with respect to disturbances, while retaining the stability of the overall system. While considering other modifications in the literature, this paper presents an improved e - modification.
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