Discrete-time algorithm for generalized simplified adaptive control and its application to DC motor control

Model reference adaptive control and pole-zero placement adaptive control have been fundamental schemes in adaptive control, but these schemes become highly complicated for a multi-input and multi-output (MIMO) system. A simplified adaptive control (SAC) scheme proposed later has simple structure and is readily implementable to a MIMO system. Generalized schemes of SAC have been proposed for a continuous-time system. This paper develops the discrete-time algorithm of the generalized SAC and derives a stability condition. The algorithm is applied to the position control of a DC motor and obtains satisfactory control performance which verifies its effectiveness