Discrete adaptive regulation of not-necessarily minimum-phase systems

A systematic procedure to adaptively regulate any SISO linear system is proposed. It is only required to know an upper bound of the system´s order. The philosophy of the method is based on an extension of the indirect adaptive control approach. Any reasonable identification algorithm fits within the proposed scheme and a lemma states the conditions to be fulfilled by the regulation algorithm. One such algorithm is presented and simulations show this adaptive regulator ¿¿ although applicable to a broader class of systems ¿¿ to be as efficient as the existing ones in their own fields of applications.