Retrospective-Cost-Based Model Reference Adaptive Control of Nonminimum-Phase Systems

This paper presents a novel approach to model reference adaptive control inspired by the adaptive pole-placement technique of Elliot and based on retrospective cost optimization (RC-MRAC). RC-MRAC is applicable to nonminimum-phase (NMP) systems assuming that the NMP zeros are known. Under this assumption, the advantage of RC-MRAC is a reduced need for persistency.