Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems

Abstract

In this paper, the problem of characterizing adaptive output feedback control laws for a general class of unknown MIMO linear systems is considered. Specifically, the presented control approach relies on three components, a predictor, a reference model, and a controller. The predictor is designed to predict the system’s output with arbitrary accuracy, for any admissible control input. Subsequently, a full state feedback control law is designed to control the predictor output to approach the reference system, while the reference system tracks the desired trajectory. Ultimately, the control objective of driving the actual system output to track the desired trajectories is achieved by showing that the system output, the predictor output, and the reference system trajectories all converge to each other.