Stable Adaptive Schemes for System Identification and Control-Part I

General schemes for the adaptive control and identification of multivariable systems whose entire state vectors are accessible for measurement are developed. A model reference approach is used here, and Lyapunov´s direct method is employed to ensure the convergence of these schemes. An added feature is the simplicity of the stable adaptive laws, which depend explicitly on the state variables of the plant and a model, and on the plant input. Computer simulation results of several examples are included to illustrate the effectiveness of the proposed schemes.