A Globally Stable Adaptive Algorithm for Discrete Time Systems with Fast Unmodeled Dynamics

In this report the Model Reference Adaptive algorithm of Monopoli [6] and Narendra [2] has been redesigned in order to guarantee stability in the presence of fast unmodeled dynamics of the plant. For the case of a step reference input it is shown that global stability can be guaranteed by a proper choice of the adaptive law, less sensitive to the error signal. The plant is assumed to be minimum phase, discrete time with known time delay.