Lyapunov-based adaptive control of MIMO systems (Q1398406)

In spite of all the progress in research in adaptive control of MIMO linear systems in the last decades, a satisfactory MIMO generalization of the Lyapunov-based direct adaptive control has not yet been achieved. Existing direct MIMO MRAC schemes require much more stringent assumptions on the plant than in the SISO case. One of the main obstacles has been the generalization of the SISO assumption that the sign of the high-frequency gain is known. In their present paper the authors overcome this difficulty: They present a more complete MIMO analog to the well-known Lyapunov-based SISO design which is significantly less restrictive than other existing analogs. The authors' algorithm makes use of a new control parametrization in which the key idea is to employ the factorization of the high-frequency gain matrix \(K_p\) into a product of a symmetric positive definite matrix \(S\), a diagonal matrix \(D\) and a unity upper triangle \(U\) matrix, \(K_p= SDU\), introduced by \textit{A. S. Morse} [Syst. Control Lett. 21, 1-10 (1993; Zbl 0784.93056)]. For their algorithm, only the signs of the entries of \(D\) (or, equivalently, the signs of the leading principal minors of \(K_p\)) are assumed as known.