Extended hybrid model reference adaptive control of piecewise affine systems

We discuss an extension to the adaptive control strategy presented in di Bernardo et al. (2013) able to counter eventual instabilities due to disturbances at the input of an otherwise L2L2 stable closed-loop system. These disturbances are due to the presence of affine terms in the plant and reference model. The existence of a common Lyapunov function for the linear part of the PWA reference model is used to prove global convergence of the error system, even in the presence of sliding solutions, as well as boundedness of all the adaptive gains.