On the absence of positive realness conditions in self-tuning regulators based on explicit criterion minimization (Q1820106)

Local convergence properties of an adaptive control algorthm that, under suitable assumptions, is known to be globally convergent to the optimal LQ regulator, are studied. In this connection, it is shown that, as in more standard adaptive controllers, a ''transfer function'' H(q), depending on the innovation C(q)-polynomial, plays a central role. The peculiarity of the algorithm under consideration is that the special form of the corresponding H(q) implies its positive realness. The interest of this result is in the relationship that it allows one to establish between the algorithm under consideration and other adaptive controllers, viz. MUSMAR, whose local convergence properties are known to be described by the same H(q).