Abstract Incremental pole placement is an adap tive cont r ol algorithm based on the pole placement, indirect adaptive con trol approach. It differs from the classical algorithm in that "the closed loop poles" are es timated directly, together with the plant poles and zeros. The deviation between the obtained " closed loop poles" and the desired ones is instrumental in the update mechanisms . Cautious control is implemented naturally as the control update and estimation algori thm are highly decoupled . This paper addresses the overall performance problem. A local analysis is presented using averaging theory. The results of this analysis suggest some non trivial modifications to improve the performance .
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