Model-Reference Adaptive Control (gnc-autonomy/control/adaptive-control)

Use when you must design and simulate a model-reference adaptive controller (MRAC) for a first-order plant with an unknown plant coefficient: run the reference model from the command, form the control as the sum of a state-feedback term and a feedforward term with adaptive gains, update the gains online with the gradient (Lyapunov-motivated) adaptation law scaled by the tracking error, and assess convergence of the tracking error and of the gains toward the ideal-cancellation values. Produces the error history, the gain histories and the convergence verdict that gate an adaptive control assessment. Trigger: adaptive-control, mrac, model-reference-adaptive, adaptation-law,…