Abstract
In this paper, the basic theory of the model reference adaptive control design and issues of particular relevance to control nonlinear dynamic plants with a relative degree greater than or equal to one with unknown parameters are detailed. The studied analysis was motivated through its application to a robot manipulator with six degrees of freedom. After linearization using the input-output feedback linearization and decoupling algorithm, the nonlinear Multi-input Multi-output system was transformed into six independent single-input single-output linear subsystems each one has a relative degree equal to two, the obtained results in different simulations shows that the augmented reference model adaptive controller has been successfully implemented.
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