A parameter adaptive control structure for linear multivariable systems

This paper presents an adaptive control structure which can be used to assign all poles and zeros of a continuous-time linear multivariable system represented by an ( <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">m \times m</tex> ) strictly proper transfer matrix <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T(s)</tex> , provided <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T(s)</tex> has no right-half plane zeros. The controller parameters can be directly estimated from input-output data. The paper also serves to point out the type of a priori information necessary for multivariable adaptive controller design. This information is a natural extension of that required in the scalar case.