Singularity-free adaptive pole placement using periodic controllers

A globally convergent adaptive control scheme for nonminimum phase systems is presented. The approach is based on a particular periodic pole-placement controller. An ad-hoc parameter estimate correction procedure is used to prevent any possible singularities in the control law computation. Furthermore, a lower bound on the estimated model controllability is ensured. The a priori knowledge on the system is reduced to the process order. >

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