Adaptive control for systems with bounded disturbances

The authors present an identification algorithm that can be used to design globally stable indirect adaptive controllers for minimum- and nonminimum-phase systems subject to bounded disturbances. The parameter estimation scheme is a least-squares algorithm with dead zone. The dead zone is such that the estimates converge and make it possible to define projected estimates having the same convergence properties as the original estimates. In the minimum-phase case, the projection facility can be used to ensure that the leading coefficient projected estimate is greater than or equal to the true leading coefficient in absolute value. The projection procedure can also be used to avoid pole-zero cancellations in an adaptive pole-placement algorithm