Robustness of MRAC schemes

A standard model reference adaptive control (MRAC) scheme is inherently robust with respect to L^∞∩L² disturbances in the sense that all closed-loop signals are bounded and the tracking error is in L^∞∩L². A MRAC scheme with a new adaptive law is inherently robust with respect to disturbances in L^∞∩L^1+α, 0<α<∞, with an L^1+β tracking error, for β=max{α¯,1/α¯}, α¯⩾α