Discrete-time minimal control synthesis adaptive algorithm

Abstract

This article proposes a discrete-time Minimal Control Synthesis (MCS) algorithm for a class of single-input single-output discrete-time systems written in controllable canonical form. As it happens with the continuous-time MCS strategy, the algorithm arises from the family of hyperstability-based discrete-time model reference adaptive controllers introduced in (Landau, Y. (1979), Adaptive Control: The Model Reference Approach, New York: Marcel Dekker, Inc.) and is able to ensure tracking of the states of a given reference model with minimal knowledge about the plant. The control design shows robustness to parameter uncertainties, slow parameter variation and matched disturbances. Furthermore, it is proved that the proposed discrete-time MCS algorithm can be used to control discretised continuous-time plants with the same performance features. Contrary to previous discrete-time implementations of the continuous-time MCS algorithm, here a formal proof of asymptotic stability is given for generic n-dimensional plants in controllable canonical form. The theoretical approach is validated by means of simulation results.