Adaptive output regulation of unknown MIMO linear systems with unknown exosystems

This paper deals with the adaptive regulation problem for unknown multi-input/multi-output linear systems with unknown exosystems. The adaptive output feedback controller with an adaptive internal model is proposed for MIMO minimum phase systems. The proposed method is based on the ASPR based adaptive output feedback control and the controller is designed based on an expanded backstepping strategy of only one step with a parallel feedforward compensator (PFC). The obtained controller structure is relatively simple even if the system has a higher order and a higher order relative degree.