Improving performance of servo systems using adaptive control

A simple Add-On adaptive control algorithm is presented that can improve the performance of any stable linear time-invariant plant. It is proved that such algorithm always exists. The proof is constructive and shows that it is simple and straight forward to design and implement the control algorithm. The algorithm is presented as a set of equations and in a block diagram that demonstrate the simplicity of the algorithm. It is demonstrated that this approach completely solves the portability problem. The paper is oriented towards the practitioner and therefore any proof that already appears in the literature is only cited. An example demonstrates the improvement in performance.