## 2 Model Free Algorithms
### Model Free Adaptive Control (MFAC)
#### 2.1.2 Partial Form Dynamic Linearization (PFDL)
In contrast, MFAC algorithms, despite their adaptability, proved less efficient under significant reference value changes and introduced vulnerabilities in system perception due to dynamic linearization. The ultralocal model used in MFC, on the other hand, emerged as a more robust solution for online system estimation. As a future research direction, the study proposes expanding the comparative analysis to include a wider range of systems with varied dynamics. Additionally, further validation of the proposed algorithms on a larger number of systems is recommended to solidify their applicability and effectiveness across diverse control scenarios. Conceptualization and methodology, A.B. and C.L. ; software, A.B. ; validation, formal analysis, investigation, resources, writing--original draft preparation, data curation, and investigation, A.B. and C.L. ; writing--review and editing, visualization, supervision, and project administration, C.L. and A.B. All authors have read and agreed to the published version of the manuscript. This research received no external funding. Not applicable. Data available in a publicly accessible repository. The authors declare no conflicts of interest. ## References

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