Adaptive state feedback control by orthogonal approximation functions

For a class of feedback linearizable systems a state feedback adaptive control based on orthogonal approximation functions is designed, under the assumption of matching conditions for the uncertainties and of known bounds on a given compact set for the unknown non‐linear function. By virtue of Bessel inequality, the bound on the unknown non‐linear function gives a bound on the norm of the optimal weight vector for any choice of the number of approximating functions, which allows us to design a robust state feedback adaptive scheme with parameter projections. The resulting control algorithm has several advantages over available schemes: it does not require a priori bounds on the approximation error and on the optimal weight vector; it is repeatable, since the set of initial conditions for the state and the parameter estimates from which a class of reference signals is tracked is explicitly given; it characterizes the L ∞ and L 2 performance of the tracking error in terms of both the approximation and the parameter estimation error; it gives full flexibility in the choice of the number of approximating orthogonal functions. Copyright © 2002 John Wiley & Sons, Ltd.