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An improved smooth adaptive internal model control based on U model control method is presented to simplify modeling structure and parameter identification for a class of uncertain dynamic systems with unknown model parameters and bounded external disturbances. Differing from traditional adaptive methods, the proposed controller can simplify the identification of time-varying parameters in presence of bounded external disturbances. Combining the small gain theorem and the virtual equivalentdoi:10.1155/2016/2926914 fatcat:l7lw3xxchvchpcg7jpx2ugwdxi