  Input constraints as well as parametric uncertainties must be accounted for
in the design of safe control systems. This paper presents an adaptive
controller for multiple-input-multiple-output (MIMO) plants with input
magnitude and rate saturation in the presence of parametric uncertainties. A
filter is introduced in the control path to accommodate the presence of rate
limits. An output feedback adaptive controller is designed to stabilize the
closed loop system even in the presence of this filter. The overall control
architecture includes adaptive laws that are modified to account for the
magnitude and rate limits. Analytical guarantees of bounded solutions and
satisfactory tracking are provided. Three flight control simulations with
nonlinear models of the aircraft dynamics are provided to demonstrate the
efficacy of the proposed adaptive controller for open loop stable and unstable
systems in the presence of uncertainties in the dynamics as well as input
magnitude and rate saturation.
