Adaptive stabilization of nonminimum phase first-order continuous-time systems

Presents an adaptive control scheme for first order systems of the form y˙+a*y=b₀*u˙+b₁*u which may possibly be a nonminimum phase. The control scheme achieves asymptotical stabilization without any a priori knowledge on the plant parameters. The adaptive scheme is free from singularities in the sense that the plant estimated model is always controllable. The singularity has been overcome through a suitable modification of the parameter estimates, which is based on standard least squares covariance matrix properties, and the use of a hysteresis switching function