Retrospective cost model reference adaptive control for nonminimum-phase systems

Jesse B. Hoagg, Dennis S. Bernstein

Research output: Contribution to journalArticlepeer-review

79 Scopus citations


This paper presents a direct model reference adaptive controller for single-input/single-output discrete-time (and thus sampled-data) systems that are possibly nonminimum phase. The adaptive control algorithm requires knowledge of the nonminimum-phase zeros of the transfer function from the control to the output. This controller uses a retrospective performance, which is a surrogate measure of the actual performance, and a cumulative retrospective cost function, which is minimized by a recursive-least-squares adaptation algorithm. This paper develops the retrospective cost model reference adaptive controller and analyzes its stability.

Original languageEnglish
Pages (from-to)1767-1786
Number of pages20
JournalJournal of Guidance, Control, and Dynamics
Issue number6
StatePublished - 2012

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics


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