Adaptive scheme for pole assignment in linear systems

The problems of arbitrarily assigning the poles of a linear system using state feedback in the presence of slow parameter variations is considered. A method is proposed whereby the varying parameters are rapidly identified, and the feedback vector is continuously updated in a stable fashion using these estimates. An additional requirement of having a zero steady-state error between the plant output and a step-reference input is also incorporated. Digital-computer-simulation results are presented to demonstrate the feasibility of the adaptive scheme.