A new decoupling precompensator for indirect adaptive control of multivariable linear systems

摘要: This note presents an indirect adaptive control algorithm for a class of multiple-input multiple-output (MIMO) linear systems. The controller consists four parts. A precompensator and feedback filter diagonalize the transfer function between set auxiliary variables v i output x . Each SISO system with input is then easily controlled by standard pole placement techniques. model identified on-line, used to update parameters precompensator, filter, controllers. main advantage such lies in decoupling closed-loop system. quality fundamental tracking performances. priori knowledge required implementation observability indexes.