This paper extends the theoretical results of amplitude constrained adaptive control to a class of Type 1, possibly non-minimum-phase, plants. The one-step-ahead adaptive control, when subject to a saturation constraint, results in a system which is BIBO stable in the sense that the output is bounded, and the control signal converges to the corresponding non-adaptive control. The results are readily extended to the model reference adaptive control case.
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Zhang et al. (1987) studied this question.
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