Comparison between model reference discrete time indirect and direct adaptive controls

The discrete time Model Reference Adaptive Control (MRAC) techniques have some important properties. They can be used successfully to the control of different type of Single Input and Single Output (SISO) systems: Linear Time Invariant (LTI) systems with unknown parameters and Linear Parameter Varying (LPV) systems. This method can be considered also as a nonlinear control design, where the system parameters will be updated in each iteration.