This paper deals with tracking problems in which the plant is single-input single-output and the desired trajectory (command signal) is regarded as the output of an unknown free dynamical system. Two procedures are presented for designing adaptive servosystems which enable the plant output to follow the command signal with zero ultimate tracking error. The first procedure uses a pole assignment method and the second utilizes a result of optimal control. An illustrative example is given, and the effectiveness of the adaptive servosystem is verified by computer simulation.

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