Parameter adaptive identification and control

A new parameter adaptive control scheme is outlined which essentially allows one to arbitrarily position all of the poles of an unknown, linear, scalar system of known dynamical order. The technique is based on identifying the parameters which characterize the dynamical behavior of the system in differential operator form and simultaneously implementing an adaptive observer which generates a feedback control signal which converges to the equivalent of an appropriate pole placing linear state variable control law. It is shown that the overall control configuration, consisting of a system identifier and a complementary adaptive observer, is globally stable provided only that the control input is "sufficiently rich" in frequency content. A study employing an unstable, nonminimum phase plant is presented to illustrate the technique.