Whether feedback itself may replace adaptation

The modified feedback structure is proposed, in which the approximations of higher order derivatives in regulator are applied, to obtain stable system under high gain. Next, the high gain and "dynamics" of regulator are separated by means of the summing junction with the reference signal, placed between them. It is shown that this structure implements the model reference control with the reference model transfer function equal to the inverse of that of the regulator "dynamics". It becomes that the proposed structure is insensitive to large and fast plant parameter changes even under saturated control. Therefore this structure may replace adaptive system, successively.