Stability and robustness analysis of MIMO MRAC using Kp = L 2 D 2 S 2 factorization.

For a class of MIMO systems with input and output unmodeled dynamics, bounded disturbances and any relative degree, using the idea of Kp = L2D2S2 factorization, the design and analysis of robust direct model reference adaptive control are further investigated in this article. By establishing the Lp and L2δ relationship properties between the input and output, multivariable swapping lemmas and relating all the signals in the closed-loop system with the normalizing signal, stability and robustness of adaptive system are analyzed rigorously. Compared with the existing results, the proof procedure is more compact and simple. A simulation example verifies the effectiveness of the control scheme. [ABSTRACT FROM AUTHOR]