Abstract
It is shown in this paper that a generalized adaptive law for continuous-time model reference adaptive systems can be derived based on the Lyapunov's direct method and the positive real lemma, which corresponds to the discrete-time generalized adaptive law proposed by Landau et al., and that a variety of concrete algorithms, some of which are new, can be obtained by forcing some constraints to the adaptive law. The convergence properties of the algorithms, such as decreasing-gain algorithm, constant-trace algorithm are also examined by computer simulation, which exhibits that their properties are superior to those of the conventional algorithms.
