Decentralized model reference adaptive system using a variable structure control

A decentralized model-reference adaptive control algorithm is developed using a variable structure system. The discontinuous local control forces the system to move on a local sliding mode in the local error state space. The local subsystem is made insensitive to dynamical interactions with other subsystems once the sliding mode is reached. A new approach is devised to reduce the reaching time and to reduce chattering around the local sliding surface.