Robust model reference adaptive control for multivariable plants

A complete procedure for generating and analysing robust model reference adaptive control schemes for multivariable plants is developed. The procedure consists of two parts: the first part involves the characterization of the integral structure of the modelled part of the plant, and the associated parametrization of the controller structure; and the second part involves the development of a general robust adaptive law for adjusting the controller parameters so that the closed‐loop plant is globally stable despite the presence of unmodelled dynamics and bounded disturbances. The use of dominantly rich signals for improving convergence and the bounds for the tracking and parameter error is also analysed.