Abstract
This paper deals with the problem of designing a model reference adaptive controller with an observer for a single-input single-output linear discrete system where only the input and the output can be measured. An adaptive observer which is constructed on the basis of the prior information regarding the relative degree of the pulse transfer function of the plant is employed to estimate the parameters and the state variables of the plant, and these estimates, in turn, are used to adjust the parameters of a controller. The synthesized adaptive controller is such that the tracking error between the output of the controlled system and the output of a pre-specified linear reference model is regulated to zero asymptotically. The proposed controller has a simple structure with the determined convergence rate not affected by the relative degree of the plant.
Simulation studies of third order systems with different relative degrees are shown to justify the proposed scheme.
