Hybrid adaptive control of continuous time systems

In this note a method is presented for doing discrete adaptive control of continuous time systems. Rather than make the entire compensator discrete, the compensator is separated into a continuous time adjustable control structure and a discrete time adaptation mechanism for updating the controller parameters. The discrete adaptation algorithm which randomly samples filtered versions of the plant input and output signals, and periodically updates the controller parameters, is shown to produce a stable closed loop system for any average sampling rate.