摘要: For a class of MIMO plants, using the idea of the high-frequency gain matrix Kp = L2D2S2 factorization, the problem of design and analysis for MRAC is further investigated under the single assumption of known signs of the leading principal minors of Kp. By proving the Lp and L2 relationship properties between the input and the output and the multivariable swapping lemmas, the relation between all the signals in the closed-loop system and the normalized signal is obtained and the stability and tracking performance of the adaptive system is analyzed rigorously, the proof procedure being more compact.