Model reference adaptive control for uncertain systems with sector-like bounded nonlinear inputs

In this paper, a robust model reference adaptive control based on Lyapunov stability theory is derived for uncertain systems with sector-like bounded nonlinear inputs. Under the norm bounded assumptions of system parameter variations and disturbance uncertainties, an adaptation law is used to estimate these upper bounds firstly and then an adaptive control law is designed to achieve the output tracking control objective. It is proved that the output tracking error of the proposed control system is bounded in the presence of system uncertainties from the mathematical analysis. Finally, some simulation results are given to illustrate the performance of the proposed control scheme.