Adaptive regulation for a class of uncertain systems with partial knowledge of uncertainty bounds

An adaptive regulation method is presented for a class of uncertain systems where the uncertainty bounds are partially known. Both the state and the parameter error of the closed-loop system are shown to be ultimately bounded. The proposed method improves on the adaptive control method of M.J. Corless and G. Leitmann (1981), so that performance degradation and the destabilization of the control system can be effectively presented in practical situations.>