Tracking control of partially linearizable discrete-time nonlinear systems

摘要

This paper addresses the problem of indirect adaptive feedback linearization of a discrete-time nonlinear system that is not fully input to output linearizable. A parameter estimation algorithm that is based on multioutput RLS scheme is employed in the controller design. By using the Lyapunov technique the adaptively controlled closed-loop system is shown to be stable. The controller performance is also validated by numerical simulations.