Adaptive feedback linearization of nonlinear MIMO systems using ES-MRAC

We present a novel approach to adaptation of nonlinear multi-input multi-output (MIMO) systems, in the existence of parametric uncertainties. We use feedback linearization to provide a stabilizing Model Reference Control (MRC). Next, we estimate the unknown parameters of the system, by optimizing a cost function based on the tracking error from MRC. We use extremum seeking (ES) to optimize the cost function.