Kreisselmeier, GerhardAnderson, Brian D.O.2025-06-082025-06-080018-9286ORCID:/0000-0002-1493-4774/work/174739985http://www.scopus.com/inward/record.url?scp=0022665523&partnerID=8YFLogxKhttps://hdl.handle.net/1885/733757884We propose a new model reference adaptive control algorithm and show that it provides the robust stability of the resulting closed-loop adaptive control system with respect to unmodeled plant uncertainties. The robustness is achieved by using a relative error signal in combination with a dead zone and a projection in the adaptive law. The extra a priori information needed to design the adaptive law, are bounds on the plant parameters and an exponential bound on the impulse response of the inverse plant transfer function. 0018-9286/86/0200-0127901.007en198610.1109/TAC.1986.11042170022665523