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This paper presents an analysis of the modified L1 adaptive control law. Theperformance of this control law is compared to the original control law. Themodified L1 control law uses the DC gain of the transfer function of the closedloop plant dynamics. There is slight worsening of the controller performance.Furthermore, this analysis shows that provided that there is room for slightperformance reduction, L1 adaptive control law can be used to controlnon-minimum phase systems without the use of a pole-zero cancellationtechnique. L1 adaptive control requires five assumptions before it can beapplied. The stability of matched transmission zeros is no longer a conditionthat a system needs to meet as a result of this modification to the adaptivecontrol law.

L1 Adaptive Controller -- Performance Analysis of the Inverse DC Gain Method