Shunt Indirect Variable Structure Model Reference Adaptive Controller for plants with arbitrary relative degree

This paper extends the results and features of the recently proposed Indirect Variable Structure Model Refer- ence Adaptive Controller (IVS-MRAC) for non-minimum-phase plants and systems with arbitrary relative degree, through a suitable connection with a parallel feedforward (shunt) compensator, which turns the augmented system (plant + shunt) hyper minimum-phase. Simulations suggest that overall system properties are kept, such as fast transient and robustness to parametric variations, being these characteristics associated with sliding modes control techniques.