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

摘要

A new modification is developed that guarantees asymptotic output tracking for an easily implemented direct model reference adaptive controller. This result, 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 a stability proof validating the tracking property and an illustrative example demonstrating the utility of the algorithm.