Adaptive control of aircraft lateral motion with an unknown transition to nonmimimum-phase dynamics

We apply retrospective cost adaptive control (RCAC) to a linearized aircraft dynamics with an unknown transition to nonminimum-phase (NMP) dynamics. In prior work, RCAC was used for command-following with unknown NMP zeros. In this work we extend those results to command following for cases where the dynamics transition from minimum-phase to NMP. We use system identification techniques to identify the NMP zero, and use this information in RCAC. We consider both full-state feedback and output feedback, and in both cases we follow step commands with transitioning dynamics. We first consider the case where RCAC is unaware of the change and NMP zero identification is unavailable to RCAC. We then assume that NMP zero information is available to RCAC from system identification.