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Indirect Adaptive Control for Interconnected Systems

The paper introduces an indirect adaptive controller for interconnected systems. Each subsystem is subject to bounded disturbances and to possibly unbounded interconnections with other subsystems. A variable dead zone is incorporated into a gradient estimation scheme to limit the effects of the interconnections and disturbances. An adaptive state feedback control law is described which stabilizes the interconnected system forcing the input and output signals of each subsystem to remain bounded.