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We present a discrete-time adaptive control law that is efiective for systems that are unstable, MIMO, and/or nonminimum phase. The adaptive control algorithm provides guidelines concerning the modeling information needed for implementation. This information includes a su‐cient number of Markov parameters to capture the sign of the highfrequency gain as well as the nonminimum-phase zeros. No additional information about the poles or the zeros need be known. We present numerical examples to illustrate the robustness of the algorithm under conditions of uncertainty.

Inherent Robustness of Minimal Modeling Discrete-Time Adaptive Control to Flight Anomalies