Self-tuning control of nonminimum-phase systems (Q799566)

Simple self-tuning and model-reference adaptive systems fail on nonminimum plants. The source of instability of elementary self-tuners is analysed and various suggested approaches for overcoming this problem are reviewed. Simulations verify the working of these methods, but point to the need for a robustness theory. The conclusions are that with appropriate design and engineering judgement adaptive control is viable even for nonminimum-phase processes.