Adaptive passivation with time‐varying gains of mimo nonlinear systems

This paper addresses the adaptive passivation of multi‐input multi‐output (MIMO) non‐linear systems,with unknown parameters. The class of MIMO non‐linear systems considered here has an explicit linear parametric uncertainty and it is made equivalent to a passive system by means of an adaptive controller with adaptive laws specially designed, which include suitable time‐varying gains. The solution presented here is an extension of that obtained by the authors for single‐input single‐output (SISO) systems. The proposed algorithm was applied, at simulation level, to models of dynamical MIMO systems, to exemplify the controller design methodology and to observe the adaptive system behavior.