Multivariable direct adaptive pole placement feedforward decoupling controller using multiple models

When the parameters of the system change abruptly, a multivariable direct adaptive feedforward decoupling controller using multiple models is presented to improve the transient response. In this paper, the controller consists of multiple fixed models and two adaptive models. The fixed models are mapped from the system parameter models directly and used to cover the controller parameter set with their neighborhoods. By the choice of the weighting polynomial matrix, it not only place the poles of the closed loop system arbitrarily, but also decouples the system. The global convergence is given and several simulation examples illustrate the power of the derived multiple models adaptive decoupling controller.