Adaptive dynamical feedback regulation strategies for linearizable uncertain systems

Abstract

Abstract In this paper we address the design of adaptive dynamical feedback strategies of the continuou~s, and discontinuous, types for the output stabilization of nonlinear systems. The class of systems considered corresponds to nonlinear controlled systems exhibiting linear parametric uncertainty. Dynamical feedback controllers, ideally achieving output stabilization via exact linearization, are obtained by means of repeated output differentiation and, either, pole placement, or, sliding mode control techniques. The adaptive versions of the dynamical stabilizing controllers are then obtainable through standard, direct, overparamemzed adaptive control strategies available for linearizable systems. Illustrative examples are provided which deal with the regulation of electro- mechanical systems. Keywordk Exact Linearization, Adaptive Control, Variable Structure Systemls, Electromechanical Systems. Preferre~d Mailing Address Dr. Hebertt Sira-Ramirez, Avenida La:s Ambricas, Edificio Residencias El Roble, Piso 6, Apartamento D-6, Mdrida 5101. VENEZUELA,. This work was supported by the Consejo de Desarrollo Cientifico, Humanistico y Tecnol6gico of the Universid.ad de Los Andes, Mdrida, Venezulea, under Research Grant 1-325-90, and by a grant from Shin Meiwa Industries (Japan).