Adaptive model reference control of a class of MIMO discrete-time systems with compensation of nonparametric uncertainty

In this paper, adaptive model reference control is investigated for a class of discrete-time multi-input-multi-output (MIMO) systems. Estimation of both unknown system parameters and nonparametric model uncertainty is constructed. Based on the estimation, a novel adaptive control is proposed which completely compensates the nonparametric model uncertainty. The boundedness of the closed-loop signals are guaranteed and the outputs are made asymptotically track the reference model outputs if there is no external disturbance. Simulation results are presented to demonstrate the effectiveness of the proposed control approach.