Extended Horizon Adaptive Model Algorithmic Control

A new, original, robust adaptive control strategy termed Extended Horizon Adaptive Model Algorithmic Control is presented In EHAMAC, a new, combined, 'single-loop'/'cascade' adaptive least-squares parameter estimator is coupled with a new, simple but powerful Extended Horizon Model Algorithmic Control so that open-loop stable non-minimum phase systems can be effectively controlled in the time-varying environment. In the new, cascade structure of the ALS estimator, the covariance windup and blowup are totally eliminated. Moreover, the sacramental square-root update of the covariance matrix is no longer needed On the other hand, employing EHMAC facilitates robustness design so that controller parameters can be effectively auto-tuned.