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ADAPTIVE OUTPUT FEEDBACK CONTROL OF NON‐LINEAR FEEDBACK LINEARIZABLE SYSTEMS
Author(s) -
JANKOVIC MRDJAN
Publication year - 1996
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/(sici)1099-1115(199601)10:1<1::aid-acs383>3.0.co;2-z
Subject(s) - control theory (sociology) , observer (physics) , bounded function , tracking error , exponential growth , exponential stability , controller (irrigation) , linear system , adaptive control , exponential function , mathematics , tracking (education) , computer science , nonlinear system , control (management) , artificial intelligence , mathematical analysis , physics , psychology , pedagogy , quantum mechanics , agronomy , biology
In this paper we present an adaptive output feedback controller for feedback linearizable non‐linear systems. It employs a high‐gain observer with estimate saturation which is crucial in achieving semiglobal asymptotic stabilization to the origin and, if the regressor vector is persistently exciting, exponential tracking of reference signals. A byproduct of this result is an exponentially stable adaptive observer for feedback linearizable non‐linear systems. We show that in the absen ce of persistence of excitation the tracking error can be made as small as desired by increasing the observer and parameter adaptation gains. The same idea allows us to prove approximate tracking when the unknown parameters are varying at an arbitrary but bounded rate.