Is Monopoli’s model reference
adaptive controller correct?
A. S. Morse 1
Center for Computational Vision and Control
Department of Electrical Engineering
Yale University, New Haven, CT 06520
In 1974 R. V. Monopoli published a paper  in which he posed the now classical model reference adaptive control problem, proposed a solution and presented arguments intended to establish the solution’s correctness. Subsequent research  revealed a flaw in his proof, which placed in doubt the correctness of the solution he proposed. Although provably correct solutions to the model reference adaptive control problem now exist (see  and the references therein), the problem of deciding whether or not Monopoli’s original ...