A Discrete Time Direct Adaptive Control Algorithm

A discrete time direct adaptive control algorithm is proposed, which not only remains the features of simple adaptive control but also obeys the causation between input and output for computing the control law. The algorithm also can directly force the plant output to follow the output of the idea model. Lyapunov function and positive real lemma are used to prove the stability of the algorithm. Finally, an example is simulated to confirm the validity of the algorithm.