Robust direct model reference adaptive control using KP = LDU factorization for multivariable plants
The purpose of this paper is to study the problem of robust direct model reference adaptive control (MRAC) for more general multivariable plants with unmodeled dynamics and disturbances. First, the authors build the parametric model and design robust direct MRAC using the idea of high frequency gain matrix factorization \(K_p = LDU\), where \(L\) is unity lower triangular matrix, \(D\) is diagonal matrix, and \(U\) is unity upper triangular matrix. Extending some earlier results obtained for SISO plants to multivariable plants and redefining the normalizing signal, they establish the relationship properties between the normalizing signal and all the signals in the closed-loop plant. Finally, they rigorously analyse the stability and robustness of the closed-loop plant from a qualitative point of view.
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