NEW STRUCTURE FOR AN ADAPTIVE SERVOMECHANISM CONTROLLER.

A new stable adaptive controller structure for ensuring asymptotic tracking with disturbance rejection is proposed. The controller structure is identical to the robust servomechanism controller structure when the adaptation is over. The process is assumed to be a linear minimal-phase process. The exogenous signals may be unbounded, but satisfy a known linear difference equation. The parameter adaptation algorithm ensures global convergence of the tracking error.