The adaptive servomechanism problem for MIMO systems

In this paper, new theoretical and simulated results for the robust adaptive servomechanism problem considered in Miller and Davison (1987, 1992) for unknown MIMO systems are given. As in Miller and Davison (1989) and Chang and Davison (1995) the proposed controller is nonlinear and of the switching type, and has the properly that after a finite time, switching ceases, thereby resulting in the system being controlled by a LTI controller. The switching mechanism which the authors present is robust to all bounded piecewise continuous references y_ref(t) and disturbances w(t), attempts to provide a “reasonable” transient response by “monitoring” plant output y(t) and/or error signal e(t), and, while limited to strictly proper finite dimensional MIMO systems, is computationally simpler than for the case of continuous reference and disturbance signals