American Controls Conference (ACC), 1991

"This controller assumes that the object is a point particle and that the aerial trajectory of the projectile moves along a ballistic path affected only by gravity, which imparts a downward acceleration of ... $-9.8 m/s^2$."

"Second, it assumes that the gripper release velocity $v$ directly determines the velocity of the projectile. This is not true since the object is often not grasped at the center of mass, nor is the object completely immobilized by the grasp prior to release."

"Many dynamic systems to be controlled have constant or slowly-varying uncertain parameters... The basic idea in adaptive control is to estimate the uncertain plant parameters (or, equivalently, the corresponding controller parameters) on-line based on the measured system signals, and use the estimated parameters in the control input computation. An adaptive control system can thus be regarded as a control system with on-line parameter estimation."