Global convergence for self-tuning controller in the case of multivariable systems having a general interactor matrix

An extension of a ClarKe-Gawthrop self-tuning controller to deterministic multivariable systems having general Interactor matrix is carried out in this paper. A proof of global convergence of the multivariable adaptive control algorithm is algo given. It is established that the generalized tracking error vector converges to zero and input output vectors are bounded, even for nonminimum phase systems, for appropriate cost function.