Empirical studies of output feedback MRAC algorithm with minimal controller synthesis

The minimal controller synthesis (MCS) algorithm is an adaptive control law based upon hyperstability theory and Popov´s criterion which assumes that all states of the plant are accessible, but in many cases this assumption is not valid. This paper deals with the output feedback problem of the MCS algorithm where only the plant output is available and is used to derive the adaptive law. Results of simulation studies and actual plant trials are presented which demonstrate the excellence of control that can be achieved.