A new robust model reference control for a class of multivariable unknown plants

A robust model reference control scheme for a class of multivariable unknown plants is presented. The controller is devised using the concept of variable structure design. This scheme solves the model reference adaptive control problem for a multivariable plant of interest subject to exactly the same conditions but with better performance. It is shown that global stability of the overall system is achieved and that the tracking errors converge to a residual set whose size can be directly related to the size of unmodeled dynamics and output disturbances explicitly. Furthermore, in the absence of unmodeled dynamics ad output disturbances, the tracking error can be driven to zero in finite time