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adaptive control ADVANCES IN MODELLING algorithm allocation asymptotically stable bounded closed-loop coefficients connective stability constant control signals control system cube data path defined discrete large-scale systems eigenvalues elements estimate fuzzy sets given Grouping Weight identification IEEE Trans ill-conditioned increment transformation input Kalman filter Lemma linear time-varying discrete Liu Yongqing Lyapunov function mathematical matrix MC's method microcode microprogrammed minimal MO's Modelling & Simulation nodes nonlinear time-varying discrete object obtained optimal control paper parameters positive definite positive number positive-definite PRBS problem procedure quadratic form quadratic form 2.2 reference model selected sensitivity functions software engineering structure synthesis systems with time-delays technique theorem theory time-invariant time-varying discrete system time-varying system tion trivial solution uncertainty variable vector Wang Wang Lian