Stable model reference adaptive control in the presence of bounded disturbances

The adaptive control of a linear time-invariant plant in the presence of bounded disturbances is considered. In addition to the usual assumptions made regarding the plant transfer function, it is also assumed that the high-frequency gain kpof the plant and an upper bound on the magnitude of the controller parameters are known. Under these conditions the adaptive controller suggested assures the boundedness of all signals in the overall system.