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Zbl 0768.93044
Kanellakopoulos, Ioannis; Kokotovic, Petar V.; Morse, A.Stephen
Systematic design of adaptive controllers for feedback linearizable systems. (English)
[J] IEEE Trans. Autom. Control 36, No.11, 1241-1253 (1991). ISSN 0018-9286

Summary: A systematic procedure is developed for the design of new adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems. The coordinate-free geometric conditions, which characterize this class of systems, do not constrain the growth of the nonlinearities. Instead, they require that the nonlinear system be transformable into the so-called ``parametric-pure-feedback form''. When this form is ``strict'', the proposed scheme guarantees global regulation and tracking properties, and substantially enlarges the class of nonlinear systems with unknown parameters for which global stabilization can be achieved. The main results of this paper use simple analytical tools, familiar to most control engineers.

MSC 2000:: *93C40 Adaptive control systems
93C10 Nonlinear control systems

Keywords: parametric-pure-feedback form

Cited in: Zbl 1094.93523 Zbl 0884.93003

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