  This correspondence proposes a kind of model-free adaptive control (MFAC) on
the basis of full-form equivalent-dynamic-linearization model (EDLM) for the
multivariable nonlinear system. Compared with the current MFAC, i) this control
law does not have denominator, which is stemmed from the norm of the inverse
matrix and it inevitably misses the coupling relationships among the inputs and
outputs (I/O) of systems. ii) the current restrictive assumption of a
diagonally dominant matrix is reduced to extend its application. iii) the MFAC
based on full-form EDLM is more general than the current MFAC based on
partial-form and compact-form EDLM. At last, the convergence of tracking error
and the BIBO stability of controlled system have been proved, which is one of
the open questions in MFAC.
