This paper deals with a design problem of adaptive PID control with adaptive Neural Network (NN) feedforward control input for multi-input multi-output (MIMO) discrete-time systems with a parallel feedforward compensator (PFC). Under the ASPR condition, which is satisfied by PFC, the stability of the designed adaptive PID control system is analyzed. The effectiveness of the adaptive PID control method will be confirmed through numerical simulations for a discrete-time system.
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