Robust direct adaptive control for MIMO systems using Q-parameterization

Abstract

This paper presents the design of a robust direct adaptive control (DMRAC) algorithm for MIMO systems with focus on the satisfaction of an almost strictly positive real (ASPR) condition in the presence of plant unmodeled dynamics. These unmodeled dynamics are represented as either additive or multiplicative norm bounded perturbations in the transfer function. Design conditions for a feedforward compensator have been developed utilizing the so-called Q parameterization. Illustrative example is presented to validate the algorithm’s use and applicability to control systems with unmodeled dynamics.