Abstract

An adaptive algorithm is developed for estimating the parameters of a linear multivariable error model with coupled dynamics, using estimation errors for coupling inputs. Coupled dynamics in an error equation lead to a new type of error models which have different regressors but the same parameter error. A general cost function is employed to derive a desired adaptive law for updating the parameter estimate. As an application, this algorithm is used for control and identification of multivariable systems with actuator uncertainties.

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