Adaptive Control System for a Plant with Input Amplitude Constraints and Bounded External Disturbances

We study the tracking problem for stable minimum phase systems with input amplitude constraints and bounded external disturbances. Furthermore, we explore how the disturbance and constraint on the control input signal influence the control system. We find the difference between the control input signal whose system parameters are unknown and control input signal whose system parameters are known is relative to the magnitude of disturbance. And we establish a sufficient condition to give the upper bound of tracking error.