Adaptive control of continuous-time overmodeled plants

This paper presents an adaptive controller that will stabilize and asymptotically regulate any continuous-time, linear time-invariant plant which has one input and one output. The only assumptions on the plant are observability, controllability, and the a priori knowledge of an upper bound on the plant order. The adaptive control concept combines continuous-time state observation and sampled-data control with a generalized, plant-dependent hold function. The feedback gains and the hold function are adaptively tuned