Adaptation along prescribed directions

In this paper, we revisit the state feedback model reference adaptive control problem. Specifically, we show that adaptive laws can be constructed such that the adaptation process proceeds along the desired directions. In order to substantiate our design, we formulate sufficient conditions to guarantee global asymptotic tracking of a bounded time varying external command. We argue that the reported results provide an alternative control-theoretic methodology to design adaptive command tracking controllers for multi-input-multi output dynamical systems with matched uncertainties.