Adaptive stabilization of nonminimum-phase objects with unknown lag (Q1899659)

The adaptive stabilization of a class of single-input single-output plants is considered, for nonmeasured bounded perturbations. The plant parameters are unknown, the location of the zeros of the transfer function is arbitrary (including nonminimum-phase dynamics) and the control acts with a constant, but unknown delay. For both the discrete and continuous-time cases, it is shown that, after a finite time, the adaptive controller ensures a bounded deviation of the output from the desired zero value.