A General U-Model Based Adaptive Control Design Procedure for Nonlinear Non-Affine Systems

In this study, a general U-model based design procedure is expanded to adaptive super twisting control of nonlinear polynomial systems, which is named as U-super adaptive twisting control in short. By using the estimator, an adaptive regulator for a class of simple discrete time systems with bounded disturbance is presented, discrete time super twisting reference model is proposed with proper convergence precision and convergence time for nonlinear dynamic plants including non-affine systems. Two bench test examples (non-affine plants which could be very challenging to design such control systems using the other approaches) are selected to demonstrate the feasibility and effectiveness with computational experiments, which the case studies could be guidance for readers/users with their ad hoc applications.