Global stability of a direct hybrid adaptive pole placement algorithm

This paper presents a hybrid adaptive control scheme for assigning the closed loop poles of a single-input single-output continuous time linear system. The resulting closed loop system is shown to be globally stable when driven by an external reference signal containing exactly 2n distinct sinusoids where n is the open-loop system order. In particular, persistant excitation of the closed loop input-output data, and hence convergence of a sequential least squares identification algorithm is proven.