Model Reference Adaptive Control for MIMO nonlinear systems by using linear time varying approximation

A new approach to design Model Reference Adaptive Control (MRAC) for Multi Input Multi Output (MIMO) nonlinear systems is presented. First a nonlinear reference model system is considered whose nonlinear dynamics is controlled by optimal control using Successive Approximation Approach (SAA). In the second step, nonlinear plant dynamics which may have uncertain parameters or unmodeled dynamics is controlled by using MRAC based on recursive approximations of reference model at each iteration. A two-link manipulator model is used to demonstrate the efficiency of the proposed method.