Lyapunov-stable discrete-time model reference adaptive control

Abstract

Discrete-time model reference adaptive control (MRAC) is considered with both least squares and projection algorithm parameter identification. For both cases complete Lyapunov proofs are given for stability and convergence. The results extend the approach of Johansson (Int. J. Control 1989; 50(3): 859-869) to include Lyapunov stability for MRAC when the normalized projection algorithm is used for parameter identification. Copyright © 2005 John Wiley & Sons, Ltd.