Tube reference model based direct adaptive control

In this paper, we develop a new paradigm of performance shaping in MRAC. A general concept is to replace the classical adaptive goal setting in the form of the reference model with a single predetermined trajectory by a tube reference model. We develop two alternative adaptive control schemes that lead to a tractable design formulation, where the performance is adapted on-line to satisfy new requirements in addition to the usual stability and robustness properties. The desired system performance is illustrated by simulation results.