  The main purpose of a control allocator is to distribute a total control
effort among redundant actuators. This paper proposes a discrete adaptive
control allocator for over-actuated sampled-data systems in the presence of
actuator uncertainty. The proposed method does not require uncertainty
estimation or persistency of excitation. Furthermore, the presented algorithm
employs a closed loop reference model, which provides fast convergence without
introducing excessive oscillations. To generate the total control signal, an
LQR controller with reference tracking is used to guarantee the outer loop
asymptotic stability. The discretized version of the Aerodata Model in Research
Environment (ADMIRE) is used as an over-actuated system, to demonstrate the
efficacy of the proposed method.
