Adaptive nonlinear output feedback tracking with a partial high-gain observer and backstepping

@inproceedings{Jankovic1997AdaptiveNO,
  title={Adaptive nonlinear output feedback tracking with a partial high-gain observer and backstepping},
  author={Mrdjan J. Jankovic},
  year={1997}
}
An adaptive output feedback controller for nonlinear systems with nonlinearities depending on the first r (1/spl les/r/spl les/n) derivatives of the output is proposed. The derivatives are estimated with a partial state high-gain observer, and the remaining states are handled using a backstepping method. Compared with methods based on full state high-gain observer, this approach improves robustness with respect to measurement noise and avoids overparametrization. Semiglobal tracking is proven… CONTINUE READING

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