An adaptive optimal controller with variable observer order and extrapolation time

An adaptive controller of a new class is considered in which both the actuator and the observer (filter) are adaptive and optimal (suboptimal). The observer includes a set of parallel cyclic Kalman-Bucy filters of several orders synthesized for polynomial approximations of the mismatch signal. A system of algorithms for a digital adaptive controller of this class is presented, and the required computational efficiency is estimated. (AIAA)