A model reference adaptive control system (MRACS) based on dynamic certainty equivalence (DyCE) principle taking into consideration realization of high order tuner (HOT) is proposed. In conventional scheme using DyCE principle and HOT, the knowledge of upper bound of high frequency gain of controlled object was needed for stable MRACS. However, it is generally difficult to get exactly such a knowledge a priori and its conservative estimate often leads to numerical instability in realizing HOT. In this paper, the problem is solved by introducing a projection type of HOT and an adaptive control law with division. Stability proof of the proposed MRACS is given and its validity is verified by simple numerical simulations.
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