Disturbance-Generated Bifurcation in an Adaptive System with e1-Modification Law

Abstract

The so-called e1-modification law proposed by Narendra and Annaswamy (1987) has been studied through a prototype adaptve control system, with a single unknown pole and an unknown constant disturbance at its input. This paper reveals that using this law in the case of regulation the system possesses multiple equilibria and undergoes various bifurcations.