Adaptive controllers for discrete-time systems with arbitrary zeros: An overview

The paper presents a comprehensive review of the problem of designing discrete-time adaptive controllers for systems with arbitrary zeros (minimum or non-minimum phase systems being particular cases). The authors have attempted to give a unified presentation of the various existing schemes by stripping away the technical details and highlighting their close interrelation through the use of a common framework. Both algorithmic and theoretical aspects are discussed with particular emphasis on the stability of the schemes.

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