Design of a stable discrete adaptive pole assignment control scheme

The discrete-time adaptive control of partially unknown linear single-input-single-output plants is discussed. Since the control object was chosen to be pole assignment instead of complete transfer function assignment, it was possible to devise a control structure which is simpler and more flexible than R.V. Monopoli´s augmented error signal method (1974). The main features of the proposed control scheme are a true parallelism between the model and the plant, simpler polynomial equations in the underlying linear structure, the possibility of ignoring the plant time delay, and an adaptation mechanism which also involves the model parameters