Abstract

This paper presents the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

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