Output feedback adaptive stabilization and command following for minimum phase dynamical systems with unmatched uncertainties

In this paper, we develop an output feedback adaptive control framework for continuous-time minimum phase multivariable dynamical systems for output stabilization and command following. The approach is based on a nonminimal state space realization that generates an expanded set of states using the filtered inputs and filtered outputs and their derivatives of the original system. Specifically, a direct adaptive controller for the nonminimal state space model is constructed using the expanded states of the nonminimal realization and is shown to be effective for multi-input, multi-output linear dynamical systems with unmatched system uncertainties and unstable dynamics. Two illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach.