A multiple-model MRAC scheme for multivariable systems with matching uncertainties

This paper develops a multivariable multiple-model adaptive control scheme for adaptive state feedback state tracking control of systems whose plant-model matching conditions are uncertain and parameters are unknown. To deal with the uncertainty of plant-model matching conditions needed for adaptive control, multiple reference model systems are employed to generate multiple parameter estimation and feedback control signals from which a most suitable control input is selected by a control switching mechanism designed using multiple estimation errors. Such a new multiple-model control design is based on an expanded control system parametrization which has the capacity to cover system structural uncertainties. Stability analysis and simulation results ensure and verify the desired adaptive control system stability and tracking performance.