An indirect adaptive control algorithm for systems with uncertain dynamics and disturbances

A method is presented for continuous-time indirect adaptive control systems with uncertain dynamics and bounded disturbances. Two separate gradient least squares identifiers are used to estimate the plant and the controller parameters, respectively, whereas an additional feedback signal is created to control the persistence of excitation. It is shown that global stability and system identifiability are retained, and tracking errors will converge to a residual set whose set can be directly related to the size of perturbation explicitly