Nonlinear adaptive control of systems in feedback form: An alternative to adaptive backstepping

  title={Nonlinear adaptive control of systems in feedback form: An alternative to adaptive backstepping},
  author={Dimitrios Karagiannis and Alessandro Astolfi},
  journal={Systems & Control Letters},
An algorithm for the regulation via state feedback of a class of linearly parameterised systems in feedback form is presented. The algorithm resembles the well-known adaptive backstepping/tuning functions approach, but differs in the way the parameter estimator is constructed and in the way the nonlinear damping factors are assigned. The prominent feature of the proposed approach is that it allows for prescribed (uniformly stable) dynamics to be assigned to the estimation error, thus leading to… CONTINUE READING
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