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Please help me to solve the MRAC problem

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Hai Friend…..

I have some problem in my research.

This is about controlling dc motor using Model Reference Adaptive System with load as disturbance.
I will solve the control with Lyapunov method. But I still confuse.

Please click or open this url bellow:
http://www.geocities.com/hendarto_research/problem.htm


thanks alot
 

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