Abstract
One considers the problem of adaptive control of a continuous-time plant of arbitrary relative degree, in the presence of bounded disturbances as well as unmodeled dynamics. The adaptation law one considers is the usual gradient update law with parameter projection, the latter being the only robustness enhancement modification employed. One shows that if the unmodeled dynamics, which consists of multiplicative as well as additive system uncertainty, is small enough, then all the signals in the closed-loop system are bounded
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