The known dynamic regressor extension and mixing method (DREM) is combined with the proposed filter of a new type, which uses the integration operation, and the recursive least-squares method to develop the new I-DREM model reference adaptive control (MRAC) system. It does not require a priori knowledge of the sign or the elements values of the control input matrix of the plant. It also provides the exponential convergence of the adaptation process (with the automatically adjustable adaptation rate) without the regressor persistent excitation. Such control system allows to solve three actual problems of the adaptive control: 1) to provide the exponential convergence of the controller parameter error under the condition of the regressor initial excitation, 2) to make such convergence monotonic, 3) to calculate the adaptation rate online according to the current regressor value. Some numerical experiments are conducted to demonstrate the effectiveness of the proposed method.

中文翻译：

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具有随时间变化的自适应速率的I-DREM MRAC，无需先验控制输入矩阵符号即可放松PE条件

已知的动态回归扩展和混合方法（DREM）与所提出的新型滤波器相结合，该滤波器使用积分运算和递归最小二乘法来开发新的I-DREM模型参考自适应控制（MRAC）系统。它不需要工厂的控制输入矩阵的符号或元素值的先验知识。它还提供了适应过程的指数收敛（具有自动可调的适应率），而无需回归变量持续激发。这种控制系统可以解决自适应控制的三个实际问题：1）在回归器初始激励的条件下提供控制器参数误差的指数收敛，2）使这种收敛单调，3）根据当前回归值在线计算适应率。进行了一些数值实验，证明了该方法的有效性。