Kyungpook National University
In this paper, the authors address an Adaptive Global Asymptotical Stable (adaptive GAS) controller for Multi-Input Multi Output (MIMO) uncertain linear systems based on the model reference adaptive control. There are many uncertainties, such as system parameter uncertainties, external load disturbance, friction force and model uncertainty. These are always reducing the performance quality of the system. To deal with these problems, the authors propose a control algorithm that is made by taking advantage of adaptive based model reference and state feedback. The Lyapunov theory is used to verify the asymptotical stable of the closed-loop system even in the present of persistent and other kind of disturbances.