A multivariable MRAC scheme with sensor uncertainty compensation

This paper develops a multivariable model reference adaptive control (MRAC) scheme for multi-input multi-output LTI systems with parameterized sensor uncertainties. Adaptive compensation of sensor uncertainties is incorporated with a feedback control law. An sensor uncertainty compensator is designed to estimate the actual system signals which are not available because of sensor uncertainties, and a state feedback controller is constructed using the compensator output. Stable adaptive laws update the sensor compensation controller parameters to accommodate the sensor uncertainties. Simulation results are presented which verify some established adaptive compensation control system performance properties.