Abstract
A goal of this paper is to construct the adaptive output tracking controller for nonlinear multivariable systems with unknown parameters. For this purpose, an interactor for nonlinear systems is used as a prior information of the unknown plant. If the interactor is diagonal, the problem becomes straightforward extension of the adaptive control problem for scalar systems. However, as in the linear case, the interactor is a lower left triangular polynomial matrix whose off-diagonal elements depend on the unknown parameters of the plant. In this paper, first, using the interactor algorithm, the structure of the interactor of the unknown plant is estimated, and then, the well developed MRACS technique for linear systems will be applied. Some simulation results will be presented to show the validity of this designe concept. This shows that the framework for designing the MRACS for linear multivariable systems can be also used for the nonlinear multivariable system.
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