Robust discrete-time simple adaptive model following with guaranteed H∞ performance

Robust output-feedback simplified adaptive control model following is considered for discrete-time systems with uncertainties and disturbances. Sufficient conditions for closed-loop stability, model following performance and prescribed H_∞ disturbance attenuation level are introduced, under an almost-strictly-positive-realness requirement on the plant. A numerical example, taken from the field of flight control, demonstrates the proposed method.