On periodic solutions of adaptive systems in the presence of periodic forcing terms

We consider a discrete-time system consisting of a linear plant and a periodically forced feedback controller whose parameters are slowly adapted. Using degree theory, we give sufficient conditions for the existence of periodic solutions. Using linearization methods, we give sufficient conditions for their (in)stability provided the adaptation is slow enough. We then study when the degree theoretic conditions for the existence are satisfied byd-steps-ahead adaptive controllers in the presence of unmodeled dynamics and a persistently exciting periodic reference output.