Discrete Model Reference Adaptive Control with an Augmented Error Signal

Abstract In this paper a method for designing discrete model reference adaptive control systems when one has access to only the plant’s input and output signals, is given. Controllers for single-input, single-output, nonlinear, nonautonomous plants are developed via Liapunov’s second method. Anticipative values of the plant output are not required but are replaced by signals easily obtained from a low pass filter operating on the plant’s output. The augmented error signal method (introduced in [1] for continuous systems) is employed ensuring finally that the normally used error signal also approaches zero asymptotically.