Variable structure model reference adaptive control with integration

A new variable structure model reference adaptive control scheme with integration is proposed to achieve robustness to modelling uncertainties in this paper. A key feature of this scheme is that the knowledge of neither the parameters of the upper bounding function on the modelling uncertainties nor the upper bound on the norm of the matching controller parameters is required. Other advantages of the scheme are its excellent transient performance and asymptotic zero output tracking error. Simulation results demonstrated that the chattering of the scheme is effectively compensated by incorporation of an integrator.