Arbitrary adaptive pole placement for linear multivariable systems

This report presents a methodology for adaptively assigning the closed loop poles of a linear multivariable system. The scheme is direct in nature in that no parametrized model of the unknown plant needs to be explicitely identified. Rather the control parameters, and an "equivalent" plant parameterization are simultaneously estimated from input-output data using linear parameter estimation procedures. Implementation of the scheme requires only knowledge of the system controllability indeces, and an upper bound on the observability index.