Tracking error convergence for multi-input multi-output model reference adaptive control with known nonminimum phase zeros

This paper presents a tracking error convergence proof for the multi-input multi-output direct model reference adaptive control problem. The proof is valid for square plants that are potentially nonminimum phase. This work is an extension of the surrogate tracking error adaptive control techniques previously developed, though the assumed plant structure is altered to accommodate a wider range of dynamics. Error convergence is demonstrated using a composite system construction with Lyapunov stability techniques. The performance of the proposed control design is demonstrated through simulation of a linear version of an aircraft wing´s aeroelasitc pitch and plunge dynamics.