L1 adaptive controller for a class of systems with unknown nonlinearities: Part I

This paper presents a novel adaptive control methodology for a class of uncertain systems in the presence of time-varying unknown nonlinearities. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system’s both input and output signals simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate. Part II extends the results to a class of systems in the presence of unmodeled dynamics.