AbstractAdaptive control is capable of handling systems with uncertain parameters in terms of asymptotic performance; however, it is not so well in the transient performance. Even though adaptation gain is part of adaptive controller having much effects on the transient response, it has been considered as a constant gain most of the times. In this paper, a new Laypunov-based mechanism is proposed to find optimal values of adaptation gains in nonlinear adaptive control design. The algorithm inspired of the halving method for finding polynomial roots tries to find optimum values of the adaptation gains in a direction of minimizing a cost function. The simulation results show satisfactory performance of the proposed controller especially in terms transient performance.
