Adaptive systems with closed-loop reference-models, part I: Transient performance

@article{Gibson2013AdaptiveSW,
  title={Adaptive systems with closed-loop reference-models, part I: Transient performance},
  author={Travis E. Gibson and Anuradha M. Annaswamy and Eugene Lavretsky},
  journal={2013 American Control Conference},
  year={2013},
  pages={3376-3383}
}
This paper explores the transient properties of direct model reference adaptive control with closed loop reference models. The transients are characterized by bounds on the model following error, the rate of change of the adaptive parameter and rate of change of the control input. Both Euclidean and L2 norms are used to characterize this transient behavior. 

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