Robust pole placement indirect adaptive control
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Consider a discrete system described by \[ A(q^{-1})\xi(t)=u(t),\qquad y(t)=B(q^{-1})\xi(t)+\eta(t), \] where \(q^{-1}\) is the backward shift operator and \(A(\lambda)\) and \(B(\lambda)\) are polynomials. An algorithm of adaptive pole placement consisting of a parameter estimation algorithm and a control law update and evaluation is proposed. Robust stability of the overall system is proved. The main feature of the algorithm is controllability preservation under parameter uncertainties.
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