Multivariable robust model reference adaptive control based on Kp = S1D1U1 factorization
基于Kp = S1D1U1分解的多变量鲁棒模型参考自适应控制

For multivariable systems with disturbances, by using high frequency gain matrix Kp = S1D1U1factorization, a multivariable robust direct model reference adaptive control is provided in this paper. Firstly, some similar properties to robust adaptive control theory for SISO systems are proved, and the normalizing signal is redefined. The relationship between all the signals in the closed-loop system and the normalizing signal is then established. Finally, the stability and robustness of the closed-loop system are analyzed rigorously.