Global stabilization control of multi variable MRAC systems with disturbances in input channel
输入通道有干扰多变量MRAC系统的全局稳定化控制

A design scheme of variable structure model tracking controller using output feedback is presented for a class of multi-input and multi-output (MIMO) uncertain model reference adaptive control (MRAC) systems with disturbances in input channel. The relative degree of modeled part of the system is greater then one, and the upper bounded of the degree of modeled part is unknown. By introducing the auxiliary signals and normalized signals with memory functions and appropriate choice of controller parameters, the global stability of the closed-loop system is guaranteed, and the tracking error can be arbitrarily small.