Adaptive controller with desired pole/zero assignment

An adaptive algorithm is presented to incorporate pole/zero assignment as a principle design criterion. As this algorithm does not require solving a diophantine equation at each sampling step, it possesses much computational advantage over the existing approaches of an adaptive pole-assignment control algorithm. This computational advantage is very important for the adaptive control system to the actual application. The internal stability requirement is achieved so that this algorithm can easily handle any minimum- or nonminimum-phase system. The desired zero assignment of the sensitivity function can make high-order reference signal tracking possible. Several simulations are given to illustrate that our approach is suitable for application and easy to implement.