Abstract
Given specific types of continuous time plants and disturbances of known and unknown waveform, we show that there exists a stabilizing direct model reference adaptive control law with certain disturbance rejection and robustness properties. Furthermore, the combined error system is shown to be exponentially convergent to a neighborhood with radius proportional to the magnitude of the unmodeled disturbance. We conclude with a design application using a finite element model of AFRL's AMPSS/AASTREX testbed to illustrate the utility of the control law.
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