Local averaging analysis of the incremental pole placement adaptive controller

Abstract

Incremental pole placement is an adaptive control algorithm based on the pole placement, indirect adaptive control approach. It differs from the classical algorithm in that 'the closed loop poles' are estimated directly, together with the plant poles and zeros. The deviation between the obtained 'closed loop poles' and the desired ones is instrumental in the update mechanisms. Cautious control is implemented naturally as the control update and estimation algorithm are highly decoupled. This paper addresses the overall performance problem. A local analysis is presented using averaging theory. The results of this analysis suggest some non trivial modifications to improve the performance.