Parameter Adaptive Control for a Class of Nonlinear Systems

摘要

An adaptive state feedback control algorithm is developed for a class of nonlinear systems having unknown parameters which enter the dynamic model in a linear fashion. Provided that certain matchability conditions are satisfied, the tracking error between the nonlinear plant and a linear reference model tends to zero for any feasible initialization of parameter estimates. Synthesis of the controller does not require that the unknown parameters belong to specified intervals of uncertainty. Simulation examples illustrate the application and performance of the control algorithm.