Globally stable adaptive system design for minimum phase SISO plants with input saturation

Model reference adaptive control problem for single-input single-output time-invariant continuous-time plants with input saturation is considered with main attention focused on global properties. A sufficient condition is presented and a new design method of adaptive control systems is proposed. If a priori information about the plant is available to choose the reference model and the reference input so that the sufficient condition holds, the closed-loop adaptive control system designed by the proposed method can have global stability and globally output tracking property. It is shown that the sufficient condition becomes necessary in some cases.