A stable adaptive control design for discrete plants with unmodelled dynamics (Q1821074)

This paper presents a simple discrete model reference adaptive control design which maintains stability around the equilibrium of the tracking error in the presence of unmodelled dynamics. Only a weak a priori knowledge (namely, upper bounds of the absolute value of the umodelled parameters and orders of the unmodelled dynamics) is required for the implementation. The adaptive controller has an additional parameter to protect the scheme against instability.