A Robust Discrete-Time Adaptive Control with a Compensator

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In this paper, a robust discrete-time adaptive control with compensation is proposed for single-input single-output discrete-time plants which have unmodeled dynamics. The stability of the overall system is studied using the conic sector stability theorems when a normalized constant gain parameter adaptation algorithm and a properly chosen compensation are used. An illustrative exmple shows that this compensation can also increase the parameter adaptation speed. And a method of compensation using the adaptive observation is also discussed.