Abstract
A non-minimal canonical form is motivated by the Luders-Narendra canonical form. The remarkable feature of the non-minimal canonical form is that the non-minimal state of the plant is completely accessible in the steady state. An adaptive control system is constructed by using a linear state variable feedback with adjustable gains and by setting an appropriate adjusting law for each of these gains. The problem in which the relative degree of the plant transfer function is greater than one is dealt with without any further complexity. Simulation results are presented.
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