Adaptive control of MI-MO systems with input saturations

Abstract

In all actual systems, there exist certainly input saturations. However, in conventional adaptive control schemes, the input saturations were ignored. The adaptive controller designed with ignoring the input saturations may give poor performance or lead instability of the closed loop systems. To overcome the problem, in this paper, we propose an adaptive control scheme for multi-input multi-output linear systems with input saturations. In the proposed scheme, it is assumed that there exist all leading principal minors of the high frequency gain matrix of the controlled object and the signs of leading principal minors are known. Under the assumptions, even for unstable controlled objects, we can design a stable adaptive controller for systems with input saturations. Carrying out numerical simulations, it is shown that the control performance of the closed loop system using the proposed adaptive controller can be easily improved by setting only one design parameter.