The paper discusses the adaptive control of a linear time-invariant plant when the measurement of the plant output is corrupted by a bounded disturbance. The principal contribution is the demonstration of the boundedness of all the signals of the overall system using a nonlinear adaptive law involving a dead zone. A statement of the prior information needed to determine the adaptive algorithm as well as a discussion of the limitations of the scheme are given. Computer simulations are presented to illustrate the effect of various parameters.
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Peterson et al. (1982) studied this question.
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