This paper presents two methods for designing a discrete model reference adaptive control system. The controlled plant is a multi-input, multi-output, continuous-time, linear plant having dead time. The Control is performed by a digital computer.
The first method requires no parameters of the plant and the reference model. For the multivariable system having dead time, a system of the nonminimal realzation corresponding to Lüders-Narendra's canonical form is derived. The adaptive control laws and conditions which ensure the stability for the derived system can be obtained in similar procedure as for a single-input, single-output, linear plant.
The second method is in the case where the parameters of the reference model are known. The method makes the design of the reference model easy by assigning a lower order and a diagonal structure compared with the plant, and also makes the adaptive control algorithm simple by using available information of the reference model.
Finally, the results of computer simulation of the adaptive control applied to two-input-output, linear plants are included to illustrate the effectiveness of the proposed methods.