Performance characteristics of multi-variable model-reference adaptive systems synthesized by Liapunov's direct method†

Abstract

The performance characteristics of multi-variable model-reference adaptive systems synthesized by Liapunov's direct method are investigated. Computer results obtained by simulating the behaviour of several such systems subjected to both constant and time-varying inputs are presented and discussed in some detail. In each case the time variations of the state variables, the error variables, the adaptive parameters, the Liapunov function and the time-derivative of the Liapunov function are given.