Prior information in the design of multivariable adaptive controllers

Abstract

This note discusses the design of a dynamic precompensator <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">W_{c}(s)</tex> for an <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">m \times m</tex> MIMO plant <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">W_{p}(s)</tex> such that, for almost all cases, <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">W_{p}(s)W_{c}(s)</tex> has a diagonal Hermite form.