In this paper, a generalization to model reference adaptive control laws is proposed to address the problem of actuator amplitude saturation. Specifically, a new term is incorporated in a state emulator-based adaptive control law for additional design flexibility such that the stability limits of the allowable actuator amplitude saturation can be relaxed. The closed-loop system stability of the proposed approach is analyzed using linear matrix inequalities (LMIs) and Lyapunov theory, where the resulting stability conditions can be relaxed from a model reference adaptive control law. An illustrative numerical study is further provided to demonstrate the efficacy of the proposed approach.
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