Multivariable direct adaptive controller using multiple models

A multivariable direct adaptive decoupling controller was presented using multiple models. This controller improves the transient response, when the parameters of the system change abruptly. It is composed of multiple fixed controller models and two adaptive controller models. The fixed controller models were derived from the corresponding fixed system models directly and guaranteed to cover the controller parameter set. It not only eliminates the steady-state error but also decouples the system. The global convergence was obtained and several simulation examples were presented to illustrate the effectiveness of the proposed controller.