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It is known that model reference adaptive control system (MRACS) based on surrogate model control (SMC) law can decrease the L2-norm of tracking error by increasing the adaptation speed. Generally, the adaptive law combined with parameter projection algorithm is used for avoiding zero singular problem in an adaptive control calculation and maintaining the robust adaptation. However, such an adaptive law may transiently destroy the SMC law. This paper proposes a new design scheme of the MRACS which always guarantees the realization of SMC law. It is accomplished with the high order tuner with a smooth projection. The efficiency of the proposed MRACS is shown by the stability analysis and a numerical simulation.

A Design Scheme of Model Reference Adaptive Control System to Guarantee the Surrogate Model Control Law