On the design of discrete time explicit M.R.A.C. for tracking and regulation

The design of discrete time explicit M.R.A.C. from a stability point of view introduced by Ionescu and Monopoli (1977) is reconsidered. New designs are presented which consider new structures, new types of adaptation algorithms, remove some of the restrictions encountered in previous designs, solve the problem of adaptive tracking and regulation and prove the boundness of the various control variables. A general structure and design procedure is given which contains as particular cases the various possible designs.