Multivariable MRAC with state feedback for output tracking

This paper revisits the multivariable MRAC problem, by studying adaptive state feedback control for output tracking of multi-input and multi-output (MIMO) systems. With such a control scheme, the plant-model matching condition is much less restrictive than those for state tracking, while the controller enjoys a simpler structure than that of an output feedback design with the guarantee of the asymptotic tracking of multiple outputs. Such a control scheme is useful for applications when the plant-model matching condition for state tracking cannot be satisfied. A stable adaptive control scheme is developed based on LDS decomposition of high frequency gain matrix, which ensures closed-loop stability and asymptotic output tracking. A simulation study is conducted for an aircraft model, with desired simulation results presented.