A fundamental problem in engineering consists of designing adaptive output feedback controllers for stabilizing plants affected by parameters. This paper addresses this problem by proposing a novel approach for designing fixed-order fixed-degree adaptive parameter-dependent output feedback controllers. The proposed approach requires the solution of convex optimization problems with linear matrix inequalities, and provides a sufficient condition based on the construction of a functionthat quantifies a stability margin of the closed-loop system depending on the controller. This condition is nonconservative under some mild assumptions by increasing the size of the linear matrix inequalities.
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