Data-Driven Inversion-Based Control: closed-loop stability analysis for MIMO systems

Data-Driven Inversion-Based Control (D${}^2$-IBC) is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running in parallel. In this paper, extending to the MIMO case a previous result holding for the SISO case, we derive a finite-gain stability sufficient condition for a closed-loop system formed by a nonlinear MIMO plant, connected in feedback with a D${}^2$-IBC controller.