This paper proposes a multiinput and multioutput (MIMO) quasi-autoregressive eXogenous (ARX) model and a multivariable-decoupling proportional integral differential (PID) controller for MIMO nonlinear systems based on the proposed model. The proposed MIMO quasi-ARX model improves the performance of ordinary quasi-ARX model. The proposed controller consists of a traditional PID controller with a decoupling compensator and a feed-forward compensator for the nonlinear dynamics based on the MIMO quasi-ARX model. Then an adaptive control algorithm is presented using the MIMO quasi-ARX radial basis function network (RBFN) prediction model and some stability analysis of control system is shown. Simulation results show the effectiveness of the proposed control method.
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