Abstract
For a class of MIMO systems with input and output unmodeled dynamics, bounded disturbances and any relative degree, using the idea of Kp = L 2 D 2 S 2 factorization, the design and analysis of robust direct model reference adaptive control are further investigated in this article. By establishing the Lp and L 2δ relationship properties between the input and output, multivariable swapping lemmas and relating all the signals in the closed-loop system with the normalizing signal, stability and robustness of adaptive system are analyzed rigorously. Compared with the existing results, the proof procedure is more compact and simple. A simulation example verifies the effectiveness of the control scheme.
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