Adaptive Output Feedback Apparatuses And Methods Capable Of Controlling A Non-minimum Phase System

Abstract

The invention comprises apparatuses and methods for providing the capability to stabilize and control a non-minimum phase, nonlinear plant with unmodeled dynamics and/or parametric uncertainty through the use of adaptive output feedback. A disclosed apparatus can comprise a reference model unit for generating a reference model output signal y_m The apparatus can comprise a combining unit that combines and differences a plant output signal y of a non-minimum phase plant for which not all of the states can be sensed, and a plant output signal y, to generate an output error signal ỹ. The apparatus can further comprise an adaptive control unit for generating an adaptive control signal uad used to control the plant.