ADAPTIVE OPTIMAL TUNING OF A GENERAL-CLASS OF STABLE LTI SYSTEMS WITHRESTRICTED INPUTS

The problem addressed is one of model reference adaptive control (MRAC ) of asymptotically stable plants of unknown order with zeros located anywhere in the s-plane except at the origin. The reference model is a lso asymptotically stable and lacking zero(s) at s = 0. The control la w is to be specified only in terms of the inputs to and outputs of the plant and the reference model. For inputs from a class of functions t hat approach a non-zero constant, the problem is formulated in an opti mal control framework. By successive refinements of the sub-optimal la ws proposed here, two schemes are finally design-ed. These schemes are characterized by boundedness, convergence and optimality. Simplicity and total time-domain implementation are the additional striking featu res. Simulations to demonstrate the efficacy of the control schemes ar e presented.