Inherent Robustness of Minimal Modeling Discrete-Time Adaptive Control to Flight Anomalies

We present a discrete-time adaptive control law that is effective for systems that are unstable, MIMO, and/or nonminimum phase. The adaptive control algorithm provides guidelines concerning the modeling information needed for implementation. This information includes a sufficient number of Markov parameters to capture the sign of the highfrequency gain as well as the nonminimum-phase zeros. No additional information about the poles or the zeros need be known. We present numerical examples to illustrate the robustness of the algorithm under conditions of uncertainty.