A modified model reference adaptive control scheme for improved transient performance

The author proposes a modified model reference adaptive control (MRAC) scheme aimed at improving the transient performance of adaptive systems while maintaining the ideal asymptotic properties possessed by standard MRAC. In the modified scheme, the estimation error, which is generated by the identification scheme, is used directly as a control signal to counteract errors resulting from the certainty equivalence design. It is shown that the modified scheme provides essentially the same stability and robustness properties as the standard adaptive MRAC approach but with the transient performance substantially improved. Simulation results are presented to illustrate the effectiveness of the proposed scheme