Improved model reference adaptive control using the Euler operator

Systems discretized using the conventional z-transform and zero-order-hold will lead to sampling zeros lying outside the unit circle upon fast sampling. The Euler operator has been shown to be an alternative to discretizing systems. The resulting discrete-time form approaches its original continuous-time form as the sampling interval approaches zero. A model reference adaptive controller is designed using the Euler operator. Simulations and experiment were performed on an electrohydraulic servo valve. The resulting controller is applied to a Stewart platform for simulating ship motion.