Adaptive static-output-feedback stabilization using retrospective cost optimization

We present a discrete-time, adaptive, static-output-feedback control law that is effective for systems that are unstable, MIMO, and/or nonminimum phase. In particular, we present numerical examples to provide guidelines concerning the modeling information required for controller implementation. This information includes a sufficient number of Markov parameters to capture the relative degree, the sign of the high-frequency gain, and the nonminimum-phase zeros (if any). No further information about the poles or zeros need be known. In addition, we present a stability proof for a full-state-feedback specialization.