Multivariable adaptive pole placement

In this paper we present a method for directly estimating the control parameters necessary for assigning all the poles of an m-input, p-output linear time invariant multivariable system. Estimation can be performed using linear parameter estimation procedures. By implementing this procedure in real time, one can construct a multivariable adaptive controller. The main advantage of this parameterization over earlier direct multivariable adaptive control structures, is that it does not require a priori knowledge of the interactor matrix. Rather, one needs to know the controllabilities indeces associated with each input.