利用高频增益矩阵Kp=L2D2S2的分解,通过重新定义新的规范化信号,对多变量的MRAC方案进行了严格的理论分析,证明了闭环系统的稳定性和跟踪误差的收敛性。
Using high frequency gain matrix Kp=L2D2S2 factorization, multivariable MRAC scheme is analyzed rigorously and stability of closed-loop plant and convergence of trading error are proved by redefining new normalizing signal.