Direct pole placement adaptive tracking of non-minimum phase systems

In this paper, we propose a direct pole placement adaptive tracking scheme for non-minimum-phase, open-loop stable, linear plants with time delays. Th is controller utilizes the internal model principle to eliminate steady-sta te tracking error for signals with known distinct frequencies. The controll er order depends only on the number of frequencies in the reference input, but not on the order of the plant. It is shown that with sufficiently small loop gain, the controller can guarantee stable closed loop, and asymptotic tracking. (C) 2001 Elsevier Science B.V. All rights reserved.