Robust Model Reference Adaptive Control for Multivariable Plants

A complete procedure for generating and analyzing robust model reference adaptive control schemes for multivariable plants is developed, which includes: the characterization of the integral structure of the modeled part of the plant, and the associated parameterization of the controller structure; a general robust adaptive law for adjusting the controller parameters so that the closed-loop plant is globally stable despite the presence of unmodeled dynamics and bounded disturbances; and the use of dominantly rich signals for improving parameter convergence and the bounds for the tracking and parameter error.