A robust MRAC using variable structure design for multivariable plants (Q1923067)

The authors consider multi-input, multi-output, linear time-invariant systems with known generalized relative degree. Based on a variable structure design, a robust model reference adaptive control mechanism is introduced which achieves stability and tracking in the presence of unmodeled dynamics and output disturbances. Depending on the generalized relative error, the tracking error will either tend to zero asymptotically or to a small residual set.