Periodic adaptive stabilization of unstable nonminimum phase system

The paper considers stability analysis and implementation issues for an indirect adaptive periodic controller for a MIMO system. The adaptive control algorithm runs once in the control period and thus can be implemented even with moderate computational resources. Inside the control period the controller outputs a pre-computed control signal. The algorithm uses no assumption on the controlled system open-loop poles and zeros layout. As an example, the author demonstrates periodic adaptive stabilization of a nonstable nonminimum phase system, in the classic problem of cart/pendulum system balance with only position measurements available.