Abstract
In most of the studies of model reference adaptive control (MRAC), the controlled systems are confined to minimum phase systems, since the MRAC techniques utilize the control laws involving cancellations of zeros of the systems. In this paper, we propose a design method of model reference adaptive control systems for non-minimum phase systems. The poles and zeros of the controlled systems are relocated by the periodic feedback control laws with multirate sampling, and no cancellation of zeros occurs in our method. It is shown that even if the unstable zeros exist, the output error converges to zero asymptotically, while the control input remains uniformly bounded. Some simulation results for the non-minimum phase system, also show the effectiveness of the proposed method.
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