A parameter adaptive control structure for linear multivariable systems

This paper presents an adaptive control structure which can be used to assign all poles and zeros of a continuous-time linear multivariable system represented by an ( m \times m ) strictly proper transfer matrix T(s) , provided T(s) has no right-half plane zeros. The controller parameters can be directly estimated from input-output data. The paper also serves to point out the type of a priori information necessary for multivariable adaptive controller design. This information is a natural extension of that required in the scalar case.