“Exponential convergence of recursive least squares with exponential forgetting A Parametrization for Model Reference Adaptive Pole Placement

In this note we have presented two algorithms for discrete time adaptive control which utilize prior information about the plant, including some known poles and zeros. If the plant is completely unknown. the algorithms are identical to those proposed by Goodwin el al. in [7]. However, the algorithms presented here have better transient performance and faster convergence rite when the system is partially known. In future work we show the added robustness margins obtainable from our scheme. REFERENCES E. W. Bai and S. S. S a s t r y, “Persistency of excitation sufficient richness and parameter convergence in discrete time adaptive control. ” Sysr. Contr. Lett., E. W. Bai and S. S. Sastry. “Parameter identification using prior information.” vol. 6. no. 3, pp. 153-163. 1985. J. P. Clary, “Robust algorithms in adaptive control, ” W.D. dissertation