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Volume 2017, Article ID 7834358, 12 pages
Research Article

Stability and Convergence Analysis of Direct Adaptive Inverse Control

1ECE, SQU, Muscat, Oman
2ECE, GIT, Atlanta, GA, USA

Correspondence should be addressed to Muhammad Shafiq; moc.oohay@adeeasqifahs

Received 14 June 2017; Accepted 10 October 2017; Published 14 November 2017

Academic Editor: Danilo Comminiello

Copyright © 2017 Muhammad Shafiq et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In adaptive inverse control (AIC), adaptive inverse of the plant is used as a feed-forward controller. Majority of AIC schemes estimate controller parameters using the indirect method. Direct adaptive inverse control (DAIC) alleviates the adhocism in adaptive loop. In this paper, we discuss the stability and convergence of DAIC algorithm. The computer simulation results are presented to demonstrate the performance of the DAIC. Laboratory scale experimental results are included in the paper to study the efficiency of DAIC for physical plants.