A new implementation of simple adaptive control for non-ASPR plants

The command generator tracker (CGT) approach to model reference adaptive control of linear time-invariant multi-input multi-output plants is considered. A new algorithm is proposed for controllable and observable plants which involves inserting supplementary dynamics in a feedback path inside the adaptive mechanism. These additional dynamics process the output error to form a signal which is multiplied by a new adaptive gain. This algorithm differs from other CGT adaptive control algorithm which require supplementary dynamics to be inserted in parallel with the plant. A generalized metastate representation of the closed-loop adaptive system is proposed. This representation is utilized together with Lyapunov´s second method to prove the boundedness of the true error between the plant and model outputs in the presence of bounded plant input and output disturbances