Robust adaptive decoupling control based on a reduced order model

This paper considers a class of discrete time linear multivariable non-minimum systems with unknown structures. A robust adaptive decoupling controller is proposed. First, for the design of the decoupling controller, a reduced order model is introduced. Then, by combining one-step-ahead weighting adaptive control with a feedforward decoupling compensator, the robust adaptive decoupling controller is developed. The controller parameters are directly identified by a normalized project algorithm with deadzone. BIBO stability conditions of the closed-loop system are presented by resorting to Key Technical Lemma and the introduction of pseudo exchanging matrices. Finally, to illustrate the effectiveness of the proposed method, simulations are conducted.