Adaptive Control of a Class of Uncertain Nonlinear Systems Based on a Max-Min Method

This paper deals with the problem of model reference adaptive tracking of a class of nonlinear systems with an uncertain parameter. The nonlinear term of the system is assumed to be either convex or concave with respect to the uncertain parameter. Based on a max-min method, an adaptive control law for the system is proposed. The adaptive control law is continuous. Boundedness of all signals of the closed loop system and the asymptotic exact tracking are guaranteed. An example is proposed to illustrate utility of the results in this paper.