Abstract
A framework for analyzing the stability of a class of high-order minimum-phase nonlinear systems of relative degree two based on the characteristic model-based adaptive control (CMAC) method is presented. In particular, concerning the tracking problem for such high-order nonlinear systems, by introducing a consistency condition for quantitatively describing modeling errors corresponding to a group of characteristic models together with a certain kind of CMAC laws, we prove closed-loop stability and show that such controllers can make output tracking error arbitrarily small. Furthermore, following this framework, with a specific characteristic model and a golden-section adaptive controller, detailed sufficient conditions to stabilize such groups of high-order nonlinear systems are presented and, at the same time, tracking performance is analyzed. Our results provide a new perspective for exploring the stability of some high-order nonlinear plants under CMAC, and lay certain theoretical foundations for practical applications of the CMAC method.
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