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Abstract
A method for predicting the adaptation rate of a single-input, hyperstability-based, MRAC system is developed. Assuming a slowly changing input and output, this rate follows well-defined root loci. A straightforward method for choosing adaptation gains results. The derived theory was applied to a laboratory experiment which involved a DC motor driving an inverted pendulum. Here, the adaptation rates were accurately pedicted in spite of imperfect model following due to the presence of unmodelled static friction.