The presented paper proposes novel method of Indirect Model Reference Adaptive Control. Thanks to a recent technique called Immersion & Invariance, the parameter adjustment is run with the proportional and derivative term. The former is a standard in indirect adaptive control. The latter is introduced by authors and it provides an enhancement of the transients. Furthermore, it is shown that the proposed control scheme supports the multi model methodology. Illustrative examples are calculated to show the properties of the new control method.
