Direct Multivariable Model Reference Adaptive
Adaptive algorithms have been developed for tuning control parameters
in the presence of system uncertainties and/or on line parameter
In explicit or indirect adaptive control, an identifier must be
give estimates of these unknown parameters; these parameters are then
control computation. In implicit or direct adaptive control,the control
are computed without need for the intermediate identification procedure.
particular procedure that is especially attractive for multiple input
output systems is model reference adaptive control (MRAC). However in
to guarantee perfect tracking, certain positivity conditions need to be
satisfied. Because direct MRAC procedures are easily implementable,
procedures have been developed for alleviating the satisfaction of these
positivity conditions. Such procedures will be presented and illustrated
with examples that apply MRAC to drug infusion control, robotics, and
large structural systems.