Adaptive control for systems with hard saturation

The augmented error signal concept, recently introduced, can be useful in designing model reference adaptive systems for plants with inputs which are subject to hard saturation. Liapunov's Direct Method is used as the basis for these designs. Figure 1 shows the configuration for the types of systems considered. The adaptive control acts to null the augmented error, and, in the process, also assures that the true error between plant and model approaches zero.