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Robust adaptive optimal control modification with large adaptive gain

A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on an optimal control formulation that minimizes the L2 norm of the tracking error. The optimality condition is used to derive the modification using the gradient method. The adaptive optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking performance with improved stability robustness. Simulations demonstrate the effectiveness of the proposed modification.