Adaptive control of single-input, single-output linear systems

A procedure is presented for designing parameter-adaptive control for a single-input, single-output process admitting an essentially unknown but fixed linear model, so that the resulting closed-loop system is globally stable with zero steady-state tracking error between the output of the process and the output of a prespecified linear reference model. The adaptive controller is a differentiator-free dynamical system forced only by the process input and output, as well as by a reference input.