Adaptive decoupling control for multivariable systems with input amplitude constraints

In this paper, for a class of uncertain multivariable linear systems with input amplitude, an adaptive decoupling controller is proposed. First, According to the Lagrangian relaxation method, an optimal decoupling controller is presented by introducing the Lagrangian multipliers and the relaxation operators. Then, the uncertainty of the system is considered and based on the optimal decoupling controller, the adaptive decoupling controller is proposed. The conditions of the BIBO stability for the closed loop system is given. Finally, simulations are conducted and the results show the effectively of the proposed method.