Multiple models adaptive decoupling controller for a nonminimum phase system

For a nonminimum-phase system, when the parameters of the system change abruptly, a multivariable multiple models adaptive decoupling controller (MMMADC) is presented to improve the transient response. The controller is composed of multiple fixed controller models and two adaptive controller models. The fixed controller models are derived from the corresponding fixed system models directly and guaranteed to cover the controller parameter set, without partitioning the controller parameter set again. By the choice of the weighting polynomial matrix, it not only eliminates the steady-state error but also decouples the system. The global convergence is obtained and simulation examples are presented to illustrate that the derived MMMADC can improve the transient response and get the satisfied decoupling performance.