A switching controller for multivariable LTI systems with known and unknown parameters
Date
2002Source
Proceedings of the IEEE Conference on Decision and Control41st IEEE Conference on Decision and Control
Volume
4Pages
4688-4693Google Scholar check
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The design of adaptive controllers for multi-input multi-output (MIMO) linear time invariant (LTI) systems is challenging due to the high dimension and parameterization issues associated with MIMO systems. In this paper we design and analyze a nonlinear control scheme for a general MIMO system to overcome some of the traditional parameterization issues. The design is based on switching and the theory of control Lyapunov functions. The new scheme guarantees stability and convergence of the output to a residual set by output-feedback if the plant parameters are known and by state-feedback if the plant parameters are unknown. The size of the residual set depends on some of the design parameters and can be made arbitrarily small.
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