Tracking control of partially linearizable discrete-time nonlinearsystems

摘要

This paper addresses the problem of indirect adaptive feedbacklinearization of a discrete-time nonlinear system that is not fullyinput to output linearizable. A parameter estimation algorithm that isbased on multioutput RLS scheme is employed in the controller design. Byusing the Lyapunov technique the adaptively controlled closed-loopsystem is shown to be stable. The controller performance is alsovalidated by numerical simulations