Frequency-modal adaptive control

The method of adaptive control for SISO linear plant in presence of unknown bounded disturbances is proposed. Coefficients of the plant are unknown and can be changed in some particular time points. The adaptation algorithm consists of two procedures: identification and synthesis. The identification procedure is based on the finite-frequency identification of the plant and closed-loop system. The synthesis procedure is based on the modal control technique. The algorithm of modal polynomial selection providing specified accuracy gain and phase margins for the system is proposed. Numerical example of adaptation is provided.