ABSTRACT
Recent advances in nonlinear control theory have inspired the development of adaptive control schemes for nonlinear plants. It is well known that the global stability properties of model reference adaptive systems (Narendra and Annaswamy 1989) are guaranteed under the assumption that there are no modeling errors and external disturbances acting on the plant. This restrictive assumption is often violated in applications, and therefore it is important to determine the stability and robustness of such adaptive techniques with respect to modeling errors and bounded disturbances.
