Multivariable adaptive actuator nonlinearity compensation

Many control systems are multivariable. Coupling dynamics in a multivariable system make it essentially more difficult to control than a single-variable system. In this paper, two adaptive schemes are developed for compensation of unknown nonsmooth nonlinearities at the input of a known multivariable linear plant: one with a state feedback design and the other with an output feedback design, based on a multivariable parameter estimation algorithm for coupled error models. Unlike their single-variable counterparts, some of the multivariable adaptive actuator nonlinearity compensation problems still remain unsolved if the linear plant is also unknown.