ASPR based adaptive output tracking control system design with an adaptive PFC for minimum-phase systems

This paper deals with an adaptive output tracking control system design problem. A design scheme of adaptive output feedback based output tracking control system is proposed for minimum-phase systems. In the proposed method, in order to guarantee the stability of the obtained adaptive control system, a parallel feedforward compensator (PFC), which remains the almost strictly positive realness (ASPR-ness) of the augmented system, is adjusted adaptively, and output tracking is attained by a feedforward control. The stability of the resulting control system is analyzed theoretically and the effectiveness of the proposed method will be confirmed through numerical simulations.