Adaptive Control of a Class of Multivariable Nonlinear Systems and Convergence Analysis

This paper is concerned with adaptive control of a class of multivariable nonlinear systems which can be characterized by a stochastic multivariable Hammerstein model whose linear part possesses an arbitrary interactor matrix. A simple suboptimal control law is derived which provides an efficient way to the control of the multivariable Hammerstein model systems whose linear part is not necessarily minimum phase. A direct adaptation scheme is presented to implement the control law and the global convergence of the algorithm is established.