Adaptive Control with Improved Transient Dynamics

In this chapter, we revisit the original formulation of the model reference adaptive controlModel reference adaptive control (MRAC)with improved transient dynamics (MRAC), examine its transient performance, and then propose a modification to improve the latter. Often in practice, it is the transient of a tracking controller that defines feasibility of the selected system. Tracking performance during the first few seconds of operation is often more important than its asymptotic behavior.