A problem is dealt with concerning a practical design scheme for a multi-input! multi-output simple adaptive control (SAC) system. The SAC method which was first derived as a sort of the direct model following adaptive control based on the command generator tracker (CGT) technique was fundamentally applicable to plants satisfying the so-called almost strictly positive real (ASPR) condition. However, the method can be applied to non-ASPR plants by using a parallel feedforward compensator (PFC), which makes the augmented plant including PFC be ASPR. Such a technique was proposed by Bar-Kana for plants satisfying the output feedback stabilizable condition. As an extension, the authors have proposed a simple and concrete PFC design procedure for SISO non-ASPR plants. The special feature of this proposal is that the method can be applicable to non-ASPR plants as the minimum phase system. The main aim of the paper is to give a practical design procedure of PFC for MIMO plants as a natural extension of the SISO case, so that an actual realization of MIMO SAC can be attained for a broad class of MIMO plants. The effectiveness of the proposed method is also confirmed through numerical simulations.

Robust and simple adaptive control systems Z. IW AIt and 1. MIZUMOTOt This paper deals with two problems for the improvement of the control performance of simple adaptive control (SAC) techniques. First, it is discussed that the introduction of a robust adaptive control term much robustifies the SAC system concerning plant uncertainties such as state dependent disturbance. Second, a practical procedure is described for designing the parallel feedforward compensator, which is necessary for the actual realization of the SAC system, given prior information concerning the plant such that: (I) the plant is minimum phase; (2) an upper bound on the relative degree exists; and (3) approximate values of high and low frequency gains are known. The effectiveness of the proposed methods is confirmed through the simulation of typical examples of adaptive control systems.

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