the simple control law u=theta_1

***y_p+theta_2***r

and tuning law

theta_1'=-gamma1

***sign(b_p)***e

***y_p**

theta_2'=-gamma2*sign(b_p)

theta_2'=-gamma2*

***e***r

to make the plant

y_p'=a_p

***y_p+b_p***u

to track the output of refrence model

y_m'=-4

***y_m+4***r

where e=y_p-y_m

It is already shown that when r is a constant, there will be infinite

pairs of ultimate values of theta1 and theta2; while r=sin(3

***t), the**

ultimate values of theta1 and theta2 must be fixed.

However, anybody knows is there any difference in the tracking

performance when r is different. I find when r=sin(3*t), it takes less

ultimate values of theta1 and theta2 must be fixed.

However, anybody knows is there any difference in the tracking

performance when r is different. I find when r=sin(3*

time for e to converge to zero. Am I right?