Adaptive pole placement without excitation probing signals for discrete-time systems

The authors propose a new adaptive pole placement scheme which overcomes the singularities that may occur in standard indirect adaptive controllers for discrete-time linear plants. The algorithm converges globally and is applicable to any discrete-time linear system subject to bounded disturbances. The proposed scheme requires neither the introduction of excitation probing signals into the system nor the constraints on the plant parameters to belong to particular regions in the parameter space