L1 adaptive sampled-data control for uncertain multi-input multi-output systems

Hamidreza Jafarnejadsani, Hanmin Lee, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This paper develops a sampled-data (SD) controller for uncertain multi-input multi-output (MIMO) systems, possibly with non-minimum phase zeros, using the L 1 adaptive control architecture. The proposed controller compensates for disturbances and uncertainties within the bandwidth of a low-pass filter. Sufficient conditions for robust stability are obtained for the closed-loop system with SD controller, where the input/output signals are held constant over a sampling period. It is shown that the hybrid closed-loop system can recover the performance of a continuous-time reference system as the sampling time of the SD controller tends to zero. Simulation examples are provided to validate the theoretical findings.

Original languageEnglish (US)
Pages (from-to)346-353
Number of pages8
StatePublished - May 2019


  • Digital controller
  • Disturbance compensation
  • L adaptive sampled-data control
  • Multi-input multi-output system
  • Non-minimum-phase system
  • Output-feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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