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Global Regulation of a Class of Uncertain Nonlinear Systems by Switching Adaptive Controller

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3 Author(s)
Min-Sung Koo ; Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea ; Ho-Lim Choi ; Jong-Tae Lim

There are several results on the stabilization or regulation of nonlinear systems with either triangular or feedforward nonlinearity. However, the existing results are applicable to their considered systems when the nonlinearity structure is known a priori. In this technical note, we propose a switching adaptive controller which tunes the dynamic gain depending on the nonlinearity structure. Thus, as a benefit over the existing results, the structural information on the nonlinearity is not needed. Although the linear growth condition is assumed, the rate of growth is unknown and arbitrary large with our control scheme.

Published in:

IEEE Transactions on Automatic Control  (Volume:55 ,  Issue: 12 )