Adaptive control with input saturation constraints

All real dynamical systems are subject to hard limits on input, state and output variables. And most common hard limit constraints are on amplitude and changing rate of the system input. Recently, stability of dynamical systems with hard limit constraints attracted much attention from researchers. In this chapter, stability of discrete time adaptive control systems with hard limit constraints on input amplitude and changing rate is analyzed. It is shown that the adaptive control system is bounded-input bounded-output stable if the nonadaptive version of the control system satisfies a finite gain stability condition