Scalability Concept for Predictable Closed-Loop Response of Adaptive   Controllers
  We introduce a new concept called scalability to adaptive control in this paper. In particular, we analyze how to scale learning rates of adaptive weight update laws of various adaptive control schemes with respect to given command profiles to achieve a predictable closed-loop response. An illustrative numerical example is provided to demonstrate the proposed concept, which emphasize that it can be an effective tool for validation and verification of adaptive controllers. 
Simon P. Schatz and Tansel Yucelen
cs.SY math.DS