Design of MIMO robust direct model reference adaptive controllers

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