Stability and robustness analysis of MIMO MRAC using Kp = L 2 D 2 S 2 factorization |
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| Authors: | Xue-Jun Xie |
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| Affiliation: | 1. Institute of Automation, Qufu Normal University , Qufu, Shandong Province, 273165, P.R. China xuejunxie@126.com;4. xxj@mail.qfnu.edu.cn |
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| Abstract: | For a class of MIMO systems with input and output unmodeled dynamics, bounded disturbances and any relative degree, using the idea of Kp = L 2 D 2 S 2 factorization, the design and analysis of robust direct model reference adaptive control are further investigated in this article. By establishing the Lp and L 2δ relationship properties between the input and output, multivariable swapping lemmas and relating all the signals in the closed-loop system with the normalizing signal, stability and robustness of adaptive system are analyzed rigorously. Compared with the existing results, the proof procedure is more compact and simple. A simulation example verifies the effectiveness of the control scheme. |
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| Keywords: | MIMO systems Unmodeled dynamics K p = L 2 D 2 S 2 factorization MRAC |
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