Comment on Monopoli´s error augmentation scheme

For MRAS, Monopoli has proposed an error augmentation scheme which facilitates the design of stable adaptive loops. Narendra and Peterson interpret this as imposing a quasi-commutation on a linear stable differential operator and a time-varying gain. A simple derivation using convolution integrals is given. The augmentation signal is associated with cancellation of an identified parameter rate component of the output of the adapting system.