Design of a Model Reference Adaptive Control for Multivariable System with Time-Delays

Abstract

In spite of the large number of design methods for model reference adaptive control system (MRACS) have been proposed by the researchers of stability theorem, only a few studies of MRACS for multi-input multi-output (MIMO) plant with time-delay have been published to date.
In this paper, a design method for discrete MRACS is proposed based on Lyapunov's direct method. The controlled plant is a MIMO linear plant with time-delays. It is shown that the proposed adaptive algorithms gurantee the convergency of plant's output to reference model's response by introducing an auxiliary input vector. For the adaptive algorithms proposed here, only available input-output date of the plant are used and no information on unknown plant parameter is required. Finally, the validity of the proposed adaptive algorithms is demonstrated by numerical examples.