STABLE ADAPTIVE-CONTROL OF MULTIVARIABLE SERVOMECHANISMS, WITH APPLICATION TO A PASSIVE LINE-OF-SIGHT STABILIZATION SYSTEM

This paper considers the problem of controlling multivariable servomec hanisms where there exist cross-couplings, or interactions, between th e axes. An adaptive control strategy using a feedforward paradigm is p roposed, and by incorporating direct adaptive methodologies, it is sho wn in the paper that uniformly stable operation is achieved together w ith asymptotic tracking of the reference command signals, In the paper , real-time experimental results in applying the proposed adaptive con troller to a passive line-of sight stabilization system are presented which demonstrates the effectiveness of the adaptive controller, and p rovides experimental verification of the main analytical results.