A Design Method for Multivariable Model Reference Adaptive Control Systems Including Fixed Compensator with Two-Degree-of-Freedom Structure

Abstract

A multivariable model reference adaptive control system (MRACS) including a fixed compensator is proposed. First, an exact model matching (EMM) system with two-degree-of-freedom structure is derived. Using this structure, a multivariable MRACS including fixed compensator is constructed. Since the proposed method is based on the EMM system with two-degree-of-freedom structure, the fixed compensator is chosen independently of specifications for responses to reference commands. The boundedness of all signals in the closed-loop system and the convergence of the output error are proved. A design method of the fixed compensator for MRACS with low sensitivity is also given. Finally, numerical examples are illustrated in order to show the effectiveness of the proposed method.