Abstract
A direct adaptive multivariable control scheme based on the ideas of model reference adaptive controllers is presented, which is applicable to minimum and a certain class of non-minimum phase systems. The general time delay case is considered, where the individual transfer functions of the multivariable system may have different arbitrary time delays. In order to stabalize nonminimum-phase adaptive control and to weight the control cost, the plant output vector is augmented by filtered plant input signals. Adaptive feedforward control is included to compensate measurable load changes or other disturbances. A new estimation algorithm is introduced, which is related to "fixed gain" and stochastic approximation techniques.
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