This series explores direct Model Reference Adaptive Control (MRAC). Controller gains and parameter estimates update online via tracking error. While tracking error converges asymptotically, parameter estimates are only stable. Indirect adaptive control invovles system identification and is not covered here.
Learn how Model Reference Control is derived, why exact model matching can fail, and what an X-15 case study reveals about its practical use in flight control.
Learn how MIMO MRAC is derived, including Lyapunov's direct method and its application, Barbalat's lemma, and numerical examples applied to the X-29A lateral dynamics.