A Simple Redesign of Adaptive Control for Nonlinear Parametric Models

A simple design method of adaptive control for processes which are described via nonlinear parametric models, is considered in this manuscript. It is shown that the proposed design procedure can be applied to high relative degree cases without complicated control structures, and that semi-global stability of the control systems is assured. High-gain observers are introduced to simplify the overall control structures, and nonlinear damping feedback schemes are employed so as to stabilize control systems for nonlinear parametric models and estimation errors of the observers