Simple adaptive control of linear systems with arbitrary relative degree

Adaptive state-feedback controller with simple structure is designed for a class of uncertain linear plants with arbitrary relative degree. The design procedure is based on pole placement approach wherein the averaged radius of poles distribution CO is generated by the first order adaptation algorithm. Parameter CO increases until the closed-loop system becomes stable, and the output error exponentially decays to the neighborhood of zero. The radius of neighborhood can be arbitrary reduced by increase of adaptation gain.