Rohrs Examples and Robustness of Simple Adaptive Control

Abstract

It is well known that arbitrary pole-placement can be obtained when controllers of the same order as the plant to be controlled are used. For this reason, the blame for the failure of low-order adaptive controllers was put on the unmodeled dynamics. This paper reconsiders some well known examples to show that the previous conclusions were too pessimistic, and that low-order adaptive controllers are fit to control the given plants.