An extension of a stability theorem applicable to adaptive control

In [1] explicit conditions are given for model reference adaptive systems (MRAS´s) with a general type adaptation algorithm in order to assure the giobal asymptotic stability of the error used for adaptation. However, important information about the behavior of various other variables (i.e., parameter errors, observation vector entering in the adaptation algorithm) can also be obtained. All these results which are presented in this correspondence are essential for proving the boundness of the process input and output and the convergence to zero of various transient adaptation signals in the case of model reference adaptive control