A duality approach to model reference adaptive control and identification

A common framework for model reference adaptive identification and control (MRAI and MRAC) is established. The key idea for this common framework is to maintain the same set of equations for describing the parameterizations of the plant and the model and to solve the control equation properly for each case (identification or control) for the corresponding tuned system, i.e. the model (identification) or the plant (control). Within this framework, two methods, the MOEM (modified output error method) and the IEM (input error method), for the MRAI and MRAC problems are studied, and global asymptotic stability properties are established