Robust adaptive control of discrete nominally stabilizable plants.
This paper presents an adaptive control scheme for discrete linear time-invariant systems. The authors' approach is to use a pole-placement method that does not require an assumption of plant inverse stability. The control objective is to insure the stability of the closed-loop system with a bounded tracking error. The pole-placement scheme insures asymptotic reference tracking properties when the reference sequence becomes constant. The proposed scheme can operate in both adaptive and non-adaptive environments. The only assumption about the true plant is that it is stabilizable. This paper is an extension of earlier work by the authors where they considered the case of discrete-time plants. Plant parameters are updated in each sampling interval by means of a normalized least squares algorithm with a relative adaptation dead zone and parameter modifications. The authors prove convergence of the estimated parameters and boundedness of all signals in the closed-loop system. Knowledge of the upper bound function for the unmodeled dynamics and output disturbances is required for the design of the relative adaptation dead zone. A numerical simulation is provided to illustrate the performance of the proposed control scheme.
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