### Abstract

In this paper, MIMO U-model based IMC is used for the tracking control of multivariable nonlinear systems. The algorithm is implemented in real-time on a 2DoF robot arm. The stability and convergence issues for the control-oriented U-model are also discussed. In order to guarantee stability and faster convergence speeds, bounds are suggested for the learning rate of adaptation algorithm that estimate the parameters of U-model. The adaptation algorithm is first associated with a feedback structure and then its stability is investigated using l_{2} stability and small gain theorem. The paper also discusses about the robustness of adaptation algorithm in the presence of noise and suggests optimal choices for faster convergence speeds.

Original language | English |
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Pages (from-to) | 610-619 |

Number of pages | 10 |

Journal | WSEAS Transactions on Circuits and Systems |

Volume | 7 |

Issue number | 7 |

Publication status | Published - 2008 |

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### Keywords

- Convergence speed
- Learning rate
- LMS
- Small gain theorem
- U-Model

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

### Cite this

*WSEAS Transactions on Circuits and Systems*,

*7*(7), 610-619.