Model-Free Adaptive Control of MIMO Systems Based on Linearization of Partial Format

To solve the shortcomings of traditional PID controller in dealing with disturbance rejection and robustness and the over-reliance on mathematical model of the controlled system, a model-free adaptive control algorithm based on linearization of partial format is proposed for discrete-time MIMO nonlinear systems. In this algorithm, nonlinear system is linearized by linearization of partial format method. Then the system parameters are identified by a novel projection algorithm. Parameters are used to directly recursively compute model-free adaptive control input. The controller is designed only by using I/O data of the controlled system, and no structural information or external testing signals are needed. The impact of the unmodelled dynamics of the process model is not exist. Simulation result shows that the proposed algorithm is an effective strategy with excellent tracking ability and strong robustness.