A globally convergent pole placement indirect adaptive controller

This paper deals with a new pole placement indirect adaptive control algorithm for discrete-time linear deterministic plants with arbitrary, zeros. The global convergence of the resulting closed-loop control system is achieved subject to the assumptions that the plant order and a nonzero lower bound on its degree of controllability are known. The problem of controllability of the plant estimate is handled by using both a parameter correction and a time-varying nonlinear feedback. A key property of the algorithm is that the plant estimate reaches a reasonable degree of controllability in a finite time, after which the parameter correction and the nonlinear feedback are no longer used.