Adaptive Stabilization of Nonminimum Phase First Order Continuous-Time Systems

This paper presents an adaptive control scheme for first order systems of the form y + a*y = b*0u + b*1u which may possibly be nonminimum phase. The control scheme achieves asymptotical stabilization without any apriori knowledge on the plant parameters. The adaptive scheme is free from singularities in the sense that the plant estimated model is always controllable. The singularity has been overcome through a suitable modification of the parameters estimates which is based on standard least squares covariance matrix properties.