L1 Adaptive Output Feedback Controller to Systems of Unknown Dimension

This paper presents an extension of the L₁ adaptive output feedback controller to systems of unknown dimension in the presence of unmodeled dynamics and time- varying uncertainties. The adaptive output feedback controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate. Simulations of an unstable non-minimum phase system verify the theoretical findings.