L1 adaptive sampled-data control for uncertain multi-input multi-output systems

Abstract

This paper develops a sampled-data (SD) controller for uncertain multi-input multi-output (MIMO) systems, possibly with non-minimum phase zeros, using the L1 adaptive control architecture. The proposed controller compensates for disturbances and uncertainties within the bandwidth of a low-pass filter. Sufficient conditions for robust stability are obtained for the closed-loop system with SD controller, where the input/output signals are held constant over a sampling period. It is shown that the hybrid closed-loop system can recover the performance of a continuous-time reference system as the sampling time of the SD controller tends to zero. Simulation examples are provided to validate the theoretical findings.