/spl kappa/-adaptive control of output-feedback nonlinear systems

A new design procedure is developed for adaptive output-feedback control of nonlinear systems. The procedure guarantees boundedness even without adaptation and without knowledge of bounds on the unknown parameters. It also eliminates overparametrization using tuning functions. Among other new features are the construction of a single Lyapunov function which incorporates all error variables, and the possibility for systematic improvement of transient performance.<
>