A design method of universal adaptive stabilizer

A design method of universal adaptive stabilizers for processes with unknown degrees and unknown signs of high-frequency gains, and with uncertain relative degree r, r+1 or r+2 (r/spl isin/ N), is presented. This is an extension of Marse's universal stabilizers where the relative degrees are uncertain but known to be one or two. It is shown that single adaptive control schemes with six tuning parameters can deal with enlarged uncertainties of relative degrees.