On the Stability Proof of Adaptive Schemes with Static Normalizing Signals and Parameter Projection

Abstract

Recently, it has been shown [8] that robust stability in model-reference adaptive control (MRAC) is guaranteed by simply using a static, instead of a dynamic, normalizing signal together with a parameter projection in the adaptive law. In this note, we show that the stability proof associated with such modification follows directly from the proof of schemes with dynamic normalization. Consequently, the proofs and stability arguments used in [8] can be simplified consider-ably. © 1993 IEEE