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This paper revisits the multivariable MRAC problem, by studying adaptive state feedback control for output tracking of multi-input and multi-output (MIMO) systems. With such a control scheme, the plant-model matching condition is much less restrictive than those for state tracking, while the controller enjoys a simpler structure than that of an output feedback design with the guarantee of the asymptotic...
In this paper, we present a continuous control mechanism that compensate the parameter linearizable uncertainty in a 6-link robot manipulator system under both repeating and non-repeating disturbance. The control strategy is based on limited assumption on the system nonlinearities. A semi-global asymptotic tracking result is achieved while all the closed-loop states remain bounded.
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