New design method for model reference adaptive control for nonminimum phase discrete-time systems with disturbances

Presents a new method for model reference adaptive control for nonminimum phase discrete-time systems using approximate inverse systems obtained from the least-squares approximation. The authors show how unstable pole-zero cancellations can be avoided and how the effect of the disturbances can be decoupled from the plant output. Finally, the results of computer simulation are presented to illustrate the effectiveness of the proposed method.