A reduced-order adaptive control scheme for plants with inaccessible states

A simplified solution to the problem of adaptive pole assignment is presented, and the consequent reduction of the orders of the state variable filters which constitute the controller is outlined. It can be shown that the approach described can be used to deal with plants with unmodeled dynamics, but, contrary to most previous results, it does not require a perfect separation between fast and slow modes of the plant. The neglected modes can be also placed at the intermediate frequencies.<>