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The paper presents performance and robustness analysis of the modified reference model MRAC (model reference adaptive control) or M-MRAC in short, which differs from the conventional MRAC systems by feeding back the tracking error to the reference model. The tracking error feedback gain in concert with the adaptation rate provides an additional capability to regulate not only the transient performance of the tracking error, but also the transient performance of the control signal. This differsdoi:10.2514/6.2012-2407 dblp:conf/itaero/StepanyanK12 fatcat:x4coo5y5drgflns4ypfnorruzy