多变量鲁棒自适应极点配置算法

在系统具有一般不确定结构的情况下,提出了一种多变量自适应极点配置算法,解 决了多变量自适应极点配置算法的奇异性问题,证明了它的全局收敛性和稳定性.该算法构 造了一个估计参数的修正策略，保证估计模型的一致能控性,并且得到能控度的一个下界.所 需要的先验知识仅为系统的能观性指数和能控性指数的上界以及干扰上界.

Robust Multivariable Adaptive Pole Placement Algorithm

Adaptive pole placement algorithm for multivariable system with a general uncertainty structure is presented.The long standing adaptive pole placement problem for multivariable non minimum phase system with a general uncertainty structure is solved without a persistent excitation signal.A modification strategy for parameter estimation is proposed to guarantee the uniform controllability of the estimated model and to obtain a lower bound of the controllable measure.The global convergence and the stability of the algorithm are established.The scheme requires no a priori knowledge other than the system observability indices and upper bound of the controllability index.