Stable multirate algorithm for robust adaptive control

A new multirate adaptive control algorithm for plants with unmodelled dynamics and bounded disturbances is presented. Different rates are employed for parameter estimation, controller design and controller implemeniation. A modified constant trace least-square algorithm with dead zone and pole placement are used for the algorithm, It is shown that the closed-loop system is globally stable and that set point tracking can be well achieved. © 1991 Taylor & Francis Group, LLC.