“…Recently, with the study and development of adaptive control theory, adaptive control has been widely applied in many important engineering areas, such as aircraft engine [7]- [9], industrial [10]- [12], UAVs [13], altitude ground test facilities [14], etc. In addition, many MRAC approaches have been proposed to provide robustness for system with uncertainty [14], [15]. To enhance the robustness of the conventional MRAC, several robust modification approaches such as adaptive loop recovery modification [16], dead-zone modification [17], and Optimal Control Modification (OCM) [18] have been considered.…”