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Six weeks of prescription shoe orthotics significantly improved back pain and dysfunction compared with no treatment. The addition of chiropractic care led to higher improvements in function.

A new approach to model reference adaptive control, based on a combination of direct and indirect control methods, is introduced in this paper. The controller structure is identical to that used in the direct method, but the algorithm used to update the controller parameters depends both on the output error as in direct control and on the plant parameter estimates as in indirect control. The global stability of the overall system is assured by the existence of a Lyapunov function. In the ideal case discussed here, the combined approach results in improved transient response with smaller amplitude of the control input as compared to the constituent methods.KEY WORDS Stable adaptive control Model reference adaptive control (MRAC) Direct adaptive control Indirect adaptive control Combined approach