Asymptotically stable multiple-input multiple-output direct model reference adaptive controller for processes not necessarily satisfying a positive real constraint

Abstract

This paper presents an asymptotic output tracking stability proof for a new modification to a direct model reference adaptive control procedure. This modification, which alleviates a very restrictive positive real constraint, greatly expands the class of processes that can now be controlled with zero output error. This paper presents illustrative examples demonstrating the utility of the algorithm.