Robust simplified adaptive control for a class of multivariable continuous-time systems

Abstract

This paper presents a simple and robust adaptive control algorithm for a class of multivariable continuous-time linear systems. Boundedness of all values involved in the adaptation process is guaranteed in the presence of parasitic disturbances and dynamics provided that the controlled plant is stabilizable via unknown static output feedback. The usual need of prior knowledge about the order of the plant and about the pole-excess is also eliminated. Although these techniques can be generalized and their applicability can be extended to systems that need dynamic feedback in order to achieve stability, the present algorithm has his own importance, due to its extreme simplicity of implementation that may facilitate application of adaptive control in realistic complex control systems with unknown parameters.