Multivariable BMRAC extension to arbitrary relative degree using Global Robust Exact Differentiators

This paper presents the non-uniform arbitrary relative degree extension to the Multivariable Binary Model Reference Adaptive Control (BMRAC). Global exact output tracking for uncertain linear plants is obtained without requiring stringent symmetry assumptions on the High Frequency Gain with good transient performance and robustness. To overcome the relative degree obstacle, we employ the multivariable version of the Global Robust Exact Differentiator (GRED) scheme, which achieves uniform global practical stability and exact tracking by switching a linear lead filter with a nonlinear one based on robust exact differentiators.