Multivariable adaptive control with transient overparametrization

In this paper, we use the SDU factorization approach to add stabilizing terms to the HC algorithm and, thus, extend its applicability to more general plants. Alternatively, the new method can be seen as the SDU approach where its intrinsic overparametrization is obviated by transforming the extra parameters into stabilizing terms, which asymptotically tend to zero. This makes possible the asymptotic convergence to zero of both the state and the parameter errors.