Stability analysis of input constrained continuous time indirect adaptive control

Stability analysis of continuous time indirect pole placement adaptive control with input constraint is presented in this paper. It is shown that the closed loop system for a class of stable type-1 plants is globally stable in the sense that all the signals in the loop remain bounded, and that certain degree of robustness with respect to modelling uncertainties and disturbances can be achieved by implementing a simple fixed dead zone in the parameter estimator. It is also shown that if the plant is free from modelling uncertainties and disturbances, and the control input is not saturated for a finite period of time, then the closed loop system will asymptotically be characterized by the desired closed loop poles within this time period.