High-gain adaptive stabilization of multivariable linear systems - revisited
We consider the class of multi-input multi-output, finite dimensional, state space systems of the form x=Ax+Bu. Y, where the state dimension is unknown, the system is minumum phase, and it is known that det(CB) ? 0. For this class a universal adaptive high gain controller ? not based on identification or estimation algorithms ? is presented which ensures exponential decay of the motion of the closed-loop system. It is shown that the controller is robust with respect to certain nonlinear perturbations.