Model reference adaptive control: A finite-time approach

Roberto Franco, Héctor Ríos, Alejandra Ferreira de Loza

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


This article contributes with a finite-time model reference adaptive control approach to solve the robust tracking problem for a class of disturbed scalar linear systems. A nonlinear continuous control law, composed of nonlinear adaptive gains, provides a finite-time rate of convergence. For the ideal case, that is, without external disturbances, the tracking and the parameter (ideal control gains) identification error converge to zero in a finite time. For the disturbed case, the tracking and the parameter identification error dynamics are finite-time input-to-state stable with respect to the external disturbance. The corresponding convergence proofs and the robustness analysis are based on a Lyapunov function approach, input-to-state stability theory, and homogeneity theory. Finally, simulation and experimental results show the feasibility of the proposed scheme.

Original languageEnglish
Pages (from-to)1231-1247
Number of pages17
JournalInternational Journal of Adaptive Control and Signal Processing
Issue number5
StatePublished - May 2022

Bibliographical note

Funding Information:
The authors thank Prof. Luis T. Aguilar for the facilities in using the Robust Control Lab for experiments, Grant 268364 INFRA2016. This work was supported in part by the SEP-CONACYT-ECOS-ANUIES Project 315597, by CONACYT CVU 772057, by C?tedras CONACYT CVU 270504 project 922, by C?tedras CONACYT CVU 166403 Project 1537, and by TecNM projects.

Funding Information:
Partially supported by IPM grant 99030117.

Publisher Copyright:
© 2022 John Wiley & Sons Ltd.


  • MRAC
  • adaptive control
  • finite-time
  • homogeneous systems
  • linear systems


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