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This paper deals with a design problem of an adaptive output feedback tracking control for systems with a parallel feedforward compensator (PFC) introduced in order to realize the output feedback exponential passive (OFEP) augmented control system. It is well known that one can easily design an adaptive output feedback control system for nonlinear systems satisfying the OFEP conditions. We adopt introduceing a PFC to make a non-OFEP nonlinear system OFEP and propose an adaptive control system design scheme which improves the control performance of the practical control system without the PFC. The effectiveness of the proposed method will be confirmed through experiments of a magnetic levitation system.