Multivariable Adaptive Decoupling Controller using Hierarchical Multiple Models

A hierarchical multiple models direct adaptive decoupling controller is designed to solve the problem such as too many models, long computing time and so on. The best model is searched in each level according to the switching index and fixed model set is set up in next level dynamically. By the choice of the weighting polynomial matrix, it not only eliminates the steady output error, places the poles of the closed loop system arbitrarily, but also decouples the system dynamically. At last, to this multiple models switching system, the global convergence is obtained under the common assumptions and the convergence property of the controller parameter set is proved too. When compared with the convenient multiple models adaptive controller, it reduces the number of the fixed models greatly. If the same number of the fixed models is used, system transient response and decoupling result are improved