Robust model-reference adaptive control using Kp = LDU factorization for multivariable discrete-time systems
基于Kp = LDU分解的多变量离散时间系统鲁棒模型参考自适应控制

For a class of multivariable discrete-time systems with unmodeled dynamics and a relative order greater than one, we develop the parametric models by factorizing the gain matrix in high frequencies. Based on these models, we design a direct robust model-reference adaptive controller under the weak assumptions. By the swapping lemmas for the discrete-time systems, we establish the relations among all signals in the closed-loop with the normalized signals. The stability and robustness of the closed-loop system are analyzed rigorously in a systematic way.