Data-driven output tracking control by a model-free adaptive scheme

This paper investigates the output tracking problem for Single-Input Single-Output and Multiple-Input Multiple-Output plants from the perspective of Model Free Adaptive Control. Based on a simple observation obtained from experimental evidence, a revisitation of the standard control scheme is proposed here to extend the original formulation with the output tracking problem. A tracking controller is proposed that provides asymptotically vanishing tracking error and closed loop external stability. A simulation study on benchmark systems taken from the relevant literature is also presented to validate the proposed approach.