A novel approach to the explicit pole assignment self-tuning controller design

A recursive algorithm for the controller design phase of the adaptive pole assignment controller is presented. Compared to other pole-assignment adaptive controllers, the computation time to get the controller parameters is drastically reduced and the numerical stability of the controller parameters is increased. If persistent excitation is imposed, the system poles will be located at the desired position in the steady state and the global stability of the system can be easily obtained.<
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