Discrete-time adaptive control of continuous systems with internal and external point delays

This paper deals with the discrete-time pole and zero placement control of continuous systems with internal and external point delays when the discretization is performed through a zero order hold. This strategy of control is based on the possibility to represent the continuous system with delays as a QARMA (quasiregressive moving average) model. An approximate method based on Leverrier's algorithm for obtaining the parameters of a discrete plant model is presented. The parameters are calculated from output values at sampling points of the step response of the system. In the adaptive case, the parameters are obtained online by using the recursive least squares algorithm.