A general adaptive control structure

A general adaptive control structure is given which provides flexibility in defining the plant and controller parameterizations and the goal of the adaptation. A special case is conventional model-reference adaptive control with independent uncertainty in all of the plant transfer function coefficients, although a much broader class of systems can be represented. A single derivation of the error equations for parameter estimation purposes is provided and is valid for the entire class of systems. The form of the resulting error equations is appropriate for application of common parameter estimation techniques