Direct model reference adaptive pole placement control with exponential weighting properties

A parameterization for a linear system is presented to design a direct model reference adaptive pole placement controller. This parameterized model is one of the structured nonminimal models. The exponentially weighted least-squares algorithm is employed to estimate the control parameters. The direct adaptive controller has the exponential weighting properties by the proposed method of selecting the characteristic polynomials of the sensitivity function filters in connection with the reference model. >