Abstract
The possibility of applying model reference adaptive control to a MIMO electrohydraulic servosystem was investigated in this paper. An adaptive algorithm was developed which requires less a priori knowledge about the transfer matrix while still insuring convergence and stability of the control system. The proposed scheme is based on the estimation of the controller parameters obtained directly from input-output data. Even if the system does not satisfy the strict positive realness as in a non-minimum phase system, it is still possible to obtain asymptotically perfect model following. System simulation results are provided to illustrate the feasibility of the proposed adaptive control scheme.
