Title :
Direct multivariable MRAC design without gain symmetry conditions
Author :
Liu Hsu ; Battistel, Andrei ; Nunes, Eduardo V. L.
Abstract :
This note presents a novel multi-input-multi-output (MIMO) direct MRAC design for plants of arbitrary (vector) relative degree without imposing symmetry conditions related to the high frequency gain (HFG) matrix. In contrast to the previously proposed solutions based on the HFG matrix factorization, the control law is similar to the conventional MIMO-MRAC adaptation law and does not involve additional parametrization. Both the continuous-time and discrete-time are considered in the new proposed approach.
Keywords :
MIMO systems; continuous time systems; control system synthesis; discrete time systems; matrix decomposition; model reference adaptive control systems; multivariable control systems; HFG matrix factorization; MIMO-MRAC adaptation law; continuous-time system; direct multivariable MRAC design; discrete-time system; gain symmetry condition; high frequency gain matrix; multiinput-multioutput system; Adaptation models; Adaptive control; MIMO; Polynomials; Stability analysis; Symmetric matrices; Vectors;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580604
