Output feedback model reference adaptive control for multi-input-multi-output plants with state delay

Two new output feedback adaptive control schemes based on Model Reference Adaptive Control (MRAC) and adaptive laws for updating the controller parameters are developed for a class of linear multi-input-multi-output (MIMO) systems with state delay. An effective controller structure established on a new error equation parametrization is proposed to achieve tracking with the error tending to zero asymptotically. To achieve exact asymptotical tracking, we introduce, in the standard MRAC structure for plants without delay, a new additional adaptive feedforward control component as an output of a dynamical system driven by the reference signal. Adaptive laws are developed using the SPR-Lyapunov design approach and two assumptions regarding the prior knowledge of the high-frequency matrix Kp. This work is the first asymptotic exact zero tracking results for this class of systems in the framework of the certainty equivalence approach.