Design of adaptive LQ regulators for MIMO systems based on multirate sampling of the plant output (Q1359462)

The adaptive LQ regulation problem is solved on the basis of an alternative approach involving an indirect adaptive control scheme. On the basis of the proposed technique, the original problem is reduced to the problem of determination of a fictitious static state feedback controller. Thus this technique essentially resorts to the computation of gain controllers, rather then to the computation of state observers, as in known methods. Next, using the proposed technique, the exogenous dynamics introduced in the control loop is of low order. Finally, persistent excitation of the controlled plant is assured without making any assumption on the existence of special convex sets to which the estimated parameters belong or on the coprimeness of the polynomials describing the ARMA model, as in known methods.