Relaxation of restriction condition in adaptive control systems with input saturation

We have proposed an adaptive control scheme for systems with input saturation. In the conventional scheme, a restrict condition for initial states of the closed loop system has to be satisfied. In the paper, the main attention is to relax the restrict condition for initial states. As a result of reanalyzing stability of the closed loop system, we have a new condition for initial states. Namely, using the new condition, we can apply the adaptive controller for larger initial states than that in the conventional adaptive scheme.