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This paper addresses the problem of sensor uncertainty compensation for model reference adaptive control (MRAC) of multivariable systems. Two output feedback based MRAC schemes are developed for MIMO plants with known and unknown plant dynamics. The sensor uncertainty is modeled as parametrizable uncertain functions and a compensator is constructed to adaptively cancel the effects of sensor uncertainties,...
In this paper, we develop an output feedback adaptive control framework for continuous-time nonminimum phase multivariable systems for output stabilization and command following. The approach is based on a nonminimal state space realization that generates an expanded set of states using the filtered inputs and filtered outputs of the original system. Specifically, a direct adaptive controller for...
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