Design of MIMO robust direct model reference adaptive controllers

• Published in: Proceedings of the 36th IEEE Conference on Decision and Control Vol. 2; pp. 1890 - 1895 vol.2
• Main Authors: Ozcelik, S., Kaufman, H.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 1997
• Subjects: Adaptive control; Algorithm design and analysis; Control systems; Design optimization; Error correction; MIMO; Output feedback; Programmable control; Robust control; Robust stability
• ISBN: 0780341872; 9780780341876
• ISSN: 0191-2216
• DOI: 10.1109/CDC.1997.657866

Presents the design of a robust direct model reference adaptive control (DMRAC) algorithm for multi-input multi-output (MIMO) plants with focus on the satisfaction of almost strictly positive real (ASPR) conditions in the presence of variations in plant parameters. To alleviate the ASPR conditions, a feedforward compensator design procedure is developed using an optimization based robust stability analysis. A DMRAC algorithm ensuring asymptotic model following is then integrated with the feedforward compensator design. An illustrative example is presented to validate the algorithm's use and applicability to control systems with parametric variations.