Model Reference Adaptive Control for Multivariable Continuous Systems

Abstract

This paper discusses a model reference adaptive control for a multi-input multi-output continuous system in matrix fraction description. The controller is of Monopoli-Narendra type with a time-varying gain matrix in the parameter adaptation law. The transfer matrix of the given plant with an adjustable controller is made to approach to that of the reference model asymptotically. It is shown that, under some plausible assumptions such as on the knowledge of an interactor matrix, the algorithm for a single-input single-output system can be appropriately extended to a multi-input multi-output system. The convergence of an adaptation law is proved with some stability theory and the stability of the overall system is asserted by an analytical investigation.