Abstract
A method is presented for designing model reference adaptive systems (MRAS) for continuous and discrete cases. The process is assumed to be a single-input single-output linear system. Its transfer function contains unknown poles and minimum phase zeros and known and fixed non minimum phase zeros. With this assumption the design of asymptotically stable MRAS is possible using the augmented error signal method. The adaptive controller generates the process control signal without differentiated or anticipative signals of the process output in continuous and discrete case, respectively.
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