Abstract

This paper discusses application of dynamic output feedback linearization algorithm for adaptive control of nonlinear MIMO systems. Neural Network based Simplified Additive Nonlinear AutoRegressive exogenous (NN-SANARX) structure is used for identification of nonlinear MIMO systems. This structure imposes a restriction on model adaptation. The model is divided into adaptable and nonadaptable parts. After that history-stack adaptation with dynamic output feedback linearization is used for adaptive control of nonlinear MIMO systems. The effectiveness of the adaptive control technique proposed in the paper is demonstrated on numerical example.

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