Adaptived feedback linearization control for a class of nonlinear system

This paper among a kind of adaptive control law with adaptived parameters for a class of nonlinearity systems which parameters are time varying and uncertain, to ensure the stability of i/o and the linearity of system. The system contains three following parts: first, a stable closed loop state predictor; second, the adaptive law which is used to estimate the uncertain parameters in the controlled device, and the error between controlled device and closed loop state predictor are proved to be stable under the Lyapunov stability; third, the control law which is varying with the estimated parameter, ensure the stability and linearity of system input to state predictor's output.