Stability analysis of Elliott's direct adaptive pole placement (Q1119218)

The stability of \textit{H. Elliott}'s [IEEE Trans. Autom. Control AC-27, 720-722 (1982; Zbl 0493.93033)] direct adaptive pole placement algorithm is examined without the persistency of excitation assumption. The conditions for the sequence of estimated parameters that are sufficient for the plant input and the plantoutput to be bounded are given. It is also shown that the modifications proposed in many papers for ensuring the global stability of the indirect adaptive pole placement algorithm can be also applied to the direct one if an auxiliary estimation algorithm for identifying the plant parameters is applied.