ADAPTIVE MODEL TRACKING WITH MITIGATED PASSIVITY CONDITIONS

Standard passivity conditions in multivariable linear time-invariant systems [A, B, C] imply that the product CB must be positive definite symmetric. A recent paper has managed to mitigate the symmetry condition, requiring instead that the positive definite matrix CB be diagonalizable. Although the mitigated conditions were used to proving pure stabilizability with Adaptive Controllers, the Model Tracking question has remained open. This paper extends the previous results, showing that the mitigated conditions can be used to guarantee both stability and asymptotically perfect model tracking.