Abstract
It is well known that variable structure (VS) type model reference adaptive controls (MRAC) are robust for disturbances. However almost conventional design schemes of VS-MRAC may cause chattering phenomena because of switching-function used in control synthesis input. In this paper, we propose a new design scheme of MRAC which uses VS-type adaptive identifier. This design scheme can avoid occurrence of chattering phenomena. Furthermore, this design scheme is robust to disturbances.
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