Large signal adaptation for multiple input plants

A solution to the control synthesis problem is presented for plants with constrained-control inputs and with state equations which may have variable coefficients, but are linear in the state variables and control inputs. The control is dual mode with a classical linear controller, designed to be insensitive to plant variations, used for small signals. Techniques are presented for reducing these plants to dominant two-state channels. Auxiliary controllers are applied to each channel, which are adaptive to the coupling between channels, as well as the variable plant parameters, in obtaining a minimal-time response when the signals are large. The instrumentation for the required adaptive bang-bang controllers is developed.