Model-free indirect adaptive decoupling control for nonlinear discrete-time MIMO systems

In this paper, an indirect adaptive decoupling controller with feedforward compensation is presented for nonlinear multivariable discrete-time dynamical systems. This design is model-free, based directly on some new dynamical linearization method and the resulting so called pseudo Jacobi matrix which derived on-line from the input and output information of the system. The feedforward decoupling strategy is employed to achieve static decoupling and then to obtain the improved performance and stability simultaneously. Theoretical analysis and simulation results show that the model-free indirect adaptive decoupling control system is stable and convergent.