A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security

Abstract

This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the L1 adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadtotor are provided. The tests show that the multirate L1 controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor.