def METHOD_NAME(t, xc, uc, params):
    """Algebraic output from adaptive controller, g(t,x,u;p)"""
    # Controller inputs
    r = uc[0]
    # xm = uc[1]
    x = uc[2]
    # Controller state
    kr = xc[1]
    kx = xc[3]
    # Control law
    u = kx*x + kr*r
    return [u]