  This paper presents a novel adaptive feedforward controller design for reset
control systems. The combination of feedforward and reset feedback control
promises high performance as the feedforward guarantees reference tracking,
while the non-linear feedback element rejects disturbances. To overcome
inevitable model mismatches, the feedforward controller adapts to increase
precision in reference tracking. Where linear existing adaptive feedforward
controllers do not guarantee convergence in the presence of reset, this work
presents a novel adaptive law based on converging and diverging regions of
adaptation to achieve good tracking. Experimental results demonstrate the
claimed advantage of the novel method.
