L1 adaptive controller for multi-input multi-output systems in the presence of unmatched disturbances

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adaptive control architecture introduced in [1]–[4] ensures that the input and the output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to asymptotic tracking. In this paper, we extend the L1 adaptive controller to multi-input multi-output systems in the presence of unmatched time-varying disturbances. Simulation results illustrate the theoretical findings.