It has been shown that the model referenced adaptive control (MRAC) scheme developed by Dubowsky and DesForges (1979) is effective for controlling nonlinear systems provided that the adjusting mechanism, which modifies the control gains, is selected properly. This study presents a modified MRAC Scheme that includes a technique for effectively designing the adjusting mechanism. A fundamental understanding of the relationship between the control process and the adjusting mechanism is developed. Next, this knowledge is used to establish a systematic procedure for designing the adjusting mechanism through an optimization process. Simulation results for the UCLA arm are presented to demonstrate the effectiveness and validity of the method.

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