Adaptive Control of Non-minimum Phase Modal Systems Using Residual Mode Filters: Part II

In Part II, we extend our adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.