Adaptive control of a class of multivariable nonlinear systems and convergence analysis

Adaptive control is discussed of a class of multivariable nonlinear systems which can be characterized by a stochastic multivariable Hammerstein model whose linear part possesses an arbitrary interactor matrix. A simple suboptimal control law is derived which provides an efficient way to control a multivariable Hammerstein model whose linear part is not necessarily minimum phase. A direct adaption scheme is presented to implement the control law, and the global convergence of the algorithm is established