Brief Adaptive control of nonlinearly parameterized systems with a triangular structure

Authors:
Aleksandar Kojić;Anuradha M. Annaswamy
Affiliations:
Adaptive Control Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA;Adaptive Control Laboratory, rm 3-461b, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

This paper deals with adaptive control of a class of nonlinear systems with a triangular structure and nonlinear parameterization. In Kojic et al. [(Systems Control Lett. 37 (1999) 267)] it was shown that a class of second-order nonlinearly parameterized systems can be adaptively controlled in a globally stable manner. In this paper, we extend our approach to all nth order systems that have a triangular structure. Global boundedness and convergence to within a desired precision @e is established for both regulation and tracking. Extensions to cascaded systems containing linear dynamics and static nonlinearities are also presented.