Adaptive control scheme for MI-MO systems with input saturations

In all actual systems, there exist certainly input saturations. If an adaptive adjusting law is designed in disregard of input saturations, the designed adaptive controller may give poor performance or lead instability of the closed loop system. To overcome the problem, in this paper, we propose an adaptive control scheme for multi-input multi-output linear systems with input saturations. It is assumed that there exist the leading principal minors of the high frequency gain matrix of the controlled object and the signs of leading principal minors are known. Under the assumptions, even for unstable controlled objects, the proposed adaptive controller can assure asymptotic stability of the tracking error between the controlled object and a reference model.