Adaptive control with a forgetting factor with multiple samples between parameter adjustments

Abstract

A discrete-time adaptive control algorithm with a forgetting factor that permits multiple samples between parameter adjustments is presented. A free integer value may be chosen in the design in order to reduce the minimum sampling period imposed by the computational requirements of the parameter adjustment laws. This fact makes the algorithm particularly suitable for inexpensive microcomputer implementation. A proof of global convergence of the algorithm is presented and the performance of the control structure is evaluated by simulations.