Direct adaptive control of MIMO systems using an output PMF approach

The authors present a new approach for direct model reference adaptive control (MRAC) of multi-input multi-output (MIMO) systems which requires neither an almost strictly positive real (ASPR) plant nor knowledge of a stabilizing compensator for the plant. This new approach is based upon new tracking conditions called the output perfect model following (OPMF) conditions. Sufficient conditions are derived for an asymptotically vanishing output error and the similarity between Y.D. Landau´s (1979) sufficient condition for adaptive state tracking and this sufficient condition is shown for adaptive output tracking for the special case when all states are measurable