Shunt Indirect Variable Structure Model Reference Adaptive Controller for plants with arbitrary relative degree

This paper extends the results and features of the recently proposed Indirect Variable Structure Model Reference Adaptive Controller (IVS-MRAC) for non-minimum-phase plants and systems with arbitrary relative degree, through a suitable connection with a parallel feedforward (shunt) compensator, which turns the augmented system (plant + shunt) hyper minimum-phase. Simulations suggest that overall system properties are kept, such as fast transient and robustness to parametric variations, being these characteristics associated with sliding modes control techniques.