Contraction based adaptive control for a class of nonlinearly parameterized systems

This paper provides a novel design of adaptive control for a class of nonlinearly parameterized systems. This methodology, based on nonlinear contraction theory, leads to a more transparent and simpler analysis through a suitable choice of the virtual system. This scheme is applied to a system which represents a generic fermentation process and is compared with an approach that assumes convex parametrization of the plant.