Design of adaptive contbollers by using the method of lyapunov functions

The potential of the direct Lyapunov method in design of adaptive control is studied. The plant is assumed to be linearly dependent on a finite totality of unknown parameters and to be subjected to additive disturbance which is only known to be uniformly limited in time. A solution to the problem of adaptive control is suggested which is an extension of nonsearching self-adjustment methods, gradient self-adjustment procedures with a reference model the method of fast gradient, and other well-known methods of designing adaptive controllers.