Nonlinear adaptation algorithms for multivariable dynamic plants

The paper is concerned with the design of nonlinear adaptive control algorithms for a continuous multivariable plant controlled with the use of a linear plant state and input signal feedback gains are adjusted in adaptation loops designed by the direct Lyapunov method from a Lyapunov function of a special form. Necessary and sufficient conditions are obtained for complete adaptability of the main loop of nonsearching self-adjusting systems. An example confirming the efficiency of proposed algorithms is given.