A method for improving the adaptation transient using adaptive sampling

This paper discusses the problem of improving the behaviour in adaptive control schemes during the adaptation transient. The key idea of the method consists of the use of adaptive sampling taking the tracking (or regulation) error between the reference model and the controlled system outputs as the signal to be adapted. The adaptation algorithms used are of the same type as those commonly used for the usual case of constant sampling. Several simulated examples corroborate the practical aspects of the method.