Multivariable MRAC with state feedback for output tracking

This paper revisits the multivariable MRAC problem, by studying adaptive state feedback control for output tracking of multi-input and multi-output (MIMO) systems. With such a control scheme, the plant-model matching condition is much less restrictive than those for state tracking, while the controller enjoys a simpler structure than that of an output feedback design with the guarantee of the asymptotic tracking of multiple outputs. Such a control scheme is useful for applications when the plant-model matching condition for state tracking cannot be satisfied. A stable adaptive control scheme is developed based on LDS decomposition of high frequency gain matrix, which ensures closed-loop stability and asymptotic output tracking. A simulation study is conducted for an aircraft model, with desired simulation results presented.

[1]  A. Morse,et al.  Parameterizations for multivariable adaptive control , 1981, 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[2]  Gang Tao,et al.  Multivariable MRAC using high frequency gain matrix factorization , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[3]  G. Goodwin,et al.  Hysteresis switching adaptive control of linear multivariable systems , 1994, IEEE Trans. Autom. Control..

[4]  Graham C. Goodwin,et al.  Adaptive filtering prediction and control , 1984 .

[5]  W. Wolovich.  Linear multivariable systems , 1974 .

[6]  Gang Tao.  Adaptive Control Design and Analysis (Adaptive and Learning Systems for Signal Processing, Communications and Control Series) , 2003 .

[7]  Alessandro Astolfi,et al.  Adaptive control of multivariable systems with reduced prior knowledge , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[8]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[9]  Gang Tao,et al.  Multivariable adaptive control using high-frequency gain matrix factorization , 2004, IEEE Transactions on Automatic Control.

[10]  Gang Tao,et al.  Adaptive control of systems with actuator failures , 2004, 2008 Chinese Control and Decision Conference.