A unified theory for the CGT approach to adaptive control

Three algorithms are proposed for the CGT (command generator tracker) approach to adaptive control which are characterized by the insertion of supplementary dynamics in different locations in the adaptive loop. These locations include in a feedback path with the plant, in parallel with the plant, and in cascade with the plant. A metasystem is obtained by concatenating the plant with the supplementary dynamics, and all three algorithms are shown to be special cases of the metasystem representation of the adaptive system. A theorem is presented which shows that the error between the plant and model outputs is bounded in the presence of bounded input and output disturbances. These algorithms extend earlier results by introducing adaptive gains for the supplementary dynamics in addition to adaptive gains for the controller