Model reference adaptive control with multiple samples between parameter adjustments

The Landau-Silveira stability theorem [1] is applied to design and illustrate multirate model reference adaptive systems (MRAS) for microcomputer implementation. For MRAS algorithms which can be characterized by an equation error, the parameter adjustment period is specified to be an integer multiple of the control-loop period. This design relieves the minimum sampling period restrictions imposed by the micro-computer. Least-squares parameter adjustment algorithms can thereby be implemented on inexpensive microcomputers to control dynamic physical processes.