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In this note a method is presented for doing discrete adaptive control of a nonlinear system which is given by a cascade connection of a "two-segment piecewise-linear asymmetric nonlinearity" followed by a linear system. A switching gain sequence is introduced to make the parameter identification time invariant. The algorithm will ensure that the closed-loop system is globally convergent and stable for both the deterministic and stochastic cases.
Date of Publication: Feb 1984