Abstract
In this paper, we discuss the generalized configuration of the discrete model reference adaptive control systems (MRACS) and their boundedness. In many literatures, the design of discrete MRACS can be classified into two methods; the first one uses the property of the positive realness and the second one uses the parameter identification algorithm proposed by Kudva and Narendra. In the latter case, Goodwin and et al. have proposed new algorithm which does not include an augmented error signal. We apply this algorithm to the former case and derive the unified design method without an augmented error signal. Furthermore, by extending Goodwin's argument, we give the proof of the asymptotic stability of the output error and the boundedness of the total system, which also guarantee the asymptotic stability and boundedness of all MRACS that will be derived from this generalized adaptive system.
