DISCRETE-TIME MODEL-REFERENCE ADAPTIVE-CONTROL FOR NONMINIMUM-PHASE SYSTEMS WITH DISTURBANCES USING APPROXIMATE INVERSE SYSTEMS

A new design method of discrete-time model reference adaptive control for nonminimum phase systems is presented, with disturbances using app roximate inverse systems obtained from the long division method. It is assumed that the disturbances are described by a polynomial function of time with known degree and unknown coefficients. The proposed schem e uses only input and output data, and the existence of bounds for all signals is proved. This scheme also assures that plant output converg es to the reference model output. The results of computer simulation a re also presented to illustrate the effectiveness of the proposed meth od.