Direct adaptive pole placement with application to nonminimum phase systems

This report presents the first direct adaptive control structure for nonminimum phase systems where controller parameter identification can be posed as a standard linear parameter estimation problem. In particular a linear equation error model is formulated for estimating both the controller parameters and some additional auxiliary parameters. Although the global stability question is not resolved, the key issue in proving stability is isolated for this scheme, and a simulation study demonstrating the feasibility of this approach is presented.