A stable indirect adaptive control scheme for first-order plants with no prior knowledge on the parameters

An indirect adaptive control scheme for a first-order linear time-invariant plant with unknown parameters is presented and analyzed. The scheme requires a priori knowledge of the sign or bounds of the plant parameters. A discontinuous control law, involving the use of probing, is utilized to avoid any singularities caused by the lack of stabilizability of the estimated model. The scheme guarantees signal boundedness and zero residual tracking error