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In this paper we study a special class of systems: time-invariant controlsystems that satisfy the matching condition for which no bounds for thedisturbance and the unknown parameters are known. For this class of systems, weprovide a simple, direct, adaptive control scheme that combines three elements:(a) nonlinear damping, (b) single-gain adjustment, and (c) deadzone in theupdate law. It is the first time that these three tools are combined and theproposed controller is called a Deadzone-Adapted Disturbance Suppression (DADS)Controller. The proposed adaptive control scheme achieves for the first time anattenuation of the plant state to an assignable small level, despite thepresence of disturbances and unknown parameters of arbitrary and unknownbounds. Moreover, the DADS Controller prevents gain and state drift regardlessof the size of the disturbance and unknown parameter.

Deadzone-Adapted Disturbance Suppression Control for Global Practical IOS and Zero Asymptotic Gain to Matched Uncertainties