Abstract
When we control real devices by using model reference adaptive controllers, we have an experience that high frequency oscillations with large amplitude occur in the control input signals. This is one of serious problems in actual applications. In this paper a new model reference adaptive controller is developed under the recognition. To generate a control input signal without oscillations, a new estimator using an observer for the output error signal is proposed. Using the estimator, it is shown theoretically that the control input signal converges with any convergent rate to an ideal input signal given by adding the exact model matching input for no initial values and an exponential function. From the property it can be expected that meaningless oscillations are hard to occur in control input signals. Moreover, it is also proved theoretically that the transient output error responses can be specified by setting design parameters.
