Adaptive pole positioning in MIMO linear systems by periodic multirate-input controllers (Q1305458)

The authors explore the possibility of extending the multirate-input controller (MRIC) based approach to the control of linear time-invariant continuous-time plants with unknown parameters. They use the certainty equivalence principle to combine the identification method with a control structure derived from the pole placement problem. The determination of the MRIC based adaptive pole placers is based on the transformation of the discrete analogue of the continuous-time system under control to a phase variable canonical form prior to the application of the control design procedure. As a consequence, no Diophantine equation has to be solved and the solution is obtained by using the state similarity transformation. As compared to possibly unstable dynamic compensators obtained by the methods known in the literature, the designed MRIC based adaptive pole placers are always stable which yields the possibility to apply the proposed technique to plants which do not possess the parity interlacing property. In order to apply the method, one has to know a priori controllability and observability of the continuous and discretized plant under control, its order, and a set of structural indices.