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.