Comparative study between L1 Adaptive controller and BL1 Adaptive controller

Basic L1 adaptive controller [1] is considered to be an improved controller as compared to the traditional Direct and Indirect MRAC (Model Reference Adaptive control). It is proposed to take advantage of the new B control method [2], [3] which exhibits improved performances in the time and the frequency domain and integrate these methods. Preliminary comparisons of the transmissions of output to input, as well as to input and output plant disturbances show a definite improvement when integrating L1 control and B control which we name BL1 control.