Adaptive output feedback control for MIMO nonlinear systems based on feedback exponential passivity

摘要

The property of Systems that can be rendered exponentially passive via output feedback is called output feedback exponential passivity. The design of adaptive output feedback control for output feedback exponentially passive MIMO nonlinear systems is proposed. Further, the alleviation of the output feedback exponentially passive conditions by introducing a parallel feedforward compensator (PFC) will be considered and design principle for the PFC is derived. The new concrete design scheme for the PFC is also given.