Adaptive internal model control: the discrete-time case

This paper considers the design and analysis of a discrete-time H ₂ optimal robust adaptive controller based on the internal model control structure. The certainty equivalence principle of adaptive control is used to combine a discrete-time robust adaptive law with a discrete-time H₂ internal model controller to obtain a discrete-time adaptive H₂ internal model control scheme with provable guarantees of stability and robustness. The approach used parallels the earlier results obtained for the continuous-time case. Nevertheless, there are some differences which, together with the widespread use of digital computers for controls applications, justifies a separate exposition