Discrete-time adaptive control in the presence of input constraints (Q1902572)

The authors consider a class of unknown scalar systems of the \[ A(q^{- 1}) y(t)= q^{- d} B(q^{- 1}) u(t), \] when \(q^{- 1}\) denotes the backward shift and \(A(\cdot)\), \(B(\cdot)\) are coprime, and a bound is known for the control input \(u(\cdot)\). The control objective, namely to track a reference signal, is achieved by an adaptive identification mechanism which uses a saturation function. Boundedness of all signals is proved. Robustness issues are studied as well.