L1 adaptive controller for MIMO systems with unmatched uncertainties using modified piecewise constant adaptation law

Zhiyuan Li, Naira Hovakimyan

Research output: Contribution to journalConference article


This paper presents the L1 adaptive controller for a class of multi-input multi-output (MIMO) systems with both matched and unmatched nonlinear uncertainties. A modification of the piecewise constant adaptive law is introduced based on the history of the past samples. Compared with the standard L1 adaptive law with piecewise constant adaptive law, here the performance bounds decay much faster as the sample period decreases, yielding better performance at a given sample period, or less stringent requirements on the computation and measurement frequency for a given performance level. Simulation results verify the theoretical findings.

Original languageEnglish (US)
Article number6425935
Pages (from-to)7303-7308
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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