Stable adaptation in the presence of input constraints

Eugene Lavretsky, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-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", has the ability to protect the control law from actuator position saturation. The reference system is adaptively modified to ensure 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)722-729
Number of pages8
JournalSystems and Control Letters
Issue number11-12
StatePublished - Nov 1 2007
Externally publishedYes


  • Adaptive control
  • Adaptive guidance
  • Saturation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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