Exponentially Stable MRAC of MIMO Switched Systems with Matched Uncertainty and Completely Unknown Control Matrix

Abstract: In this paper an attempt is made to extend the concept of the exponentially stable adaptive control to one class of multi-input-multi-output (MIMO) plants with matched nonlinearity and unknown piecewise constant parameters. Within the intervals between two consecutive parameter switches, the proposed adaptive control system ensures: 1) exponential convergence to zero of the parameter and reference model tracking errors, 2) the monotonicity of the control law adjustable parameters. Both properties are guaranteed in case the regressor is finitely exciting somewhere inside each of such intervals. Compared to the existing methods, the proposed one is applicable to systems with unknown switching signal function and completely unknown control matrix. The theoretical results are supported by the numerical experiments.