Improved adaptive control scheme with a fixed compensator for actuator failures

An improved adaptive actuator failure compensation control scheme is proposed for the purpose of improving the transient performance in a class of continuous-time, multi-input and single-output linear time-invariant plants. This new scheme includes a fixed compensator based on the conventional MRAC controller, which means to improve the transient performance. All closed-loop signals are bounded and the plant output tracks a given reference output asymptotically under the condition that the actuator failure parameters are unknown. Furthermore, simulation results for a linearized airplane model with actuator failure are shown to verify that the transient performance can be improved arbitrarily by the properly designed fixed compensator.