Positive μ-modification for stable adaptation in the presence of input constraints

Eugene Lavretsky, Naira Hovakimyan

Research output: Contribution to journalConference articlepeer-review


For a class of linear dynamical systems with unknown parameters a direct model reference adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed "positive μ-modification", protects the control law from actuator position saturation. Moreover, the design is Lyapunov based and ensures global asymptotic tracking for open-loop stable systems. For unstable systems an estimate for the domain of attraction is derived based on the input saturation magnitude and system parameters. Simulation of a benchmark example verifies the theoretical statements.

Original languageEnglish (US)
Pages (from-to)2545-2550
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2004
Externally publishedYes
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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