Transient performance and asymptotic tracking with filtering robust adaptive control

This paper presents an adaptive control design method for a class of multi-input multi-output uncertain nonlinear systems. It is shown that the proposed controller has guaranteed transient and steady state performance in the presence of parametric and non-parametric uncertainties and bounded disturbances. The approach guarantees arbitrary close tracking of the states and state derivatives of a given reference model both in transient and steady state, when no a prior knowledge is assumed on the bounds of nonlinearities and disturbances. Moreover, the resulting adaptive control signal arbitrary closely tracks the ideal (no uncertainties) control signal both in transient and steady state. Theoretical developments are illustrated via simulation results.