Abstract
In this paper we extend our previous results on adaptive tracking control design for single-input non-affine dynamic models to the multivariable case. The proposed procedure was first developed for the case of known parameters, and then extended to the adaptive control design in the case of uncertain parameters. It is shown that the key design aspect is the definition of the estimate of the derivative of system's state, which results in a convenient error model from which the adaptive laws can be written by inspection. The proposed approach is tested using a 3DOF simulation of a typical fighter aircraft, and is shown to result in substantially improved response of the system.
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