Adaptive Output Feedback Control of Multivariable Nonlinear Systems Based on Hurwitz Assumption

Abstract

In this paper, global adaptive output feedback tracking problem is considered for a class of multivariable nonlinear systems with unknown parameters and nonlinear terms linear in unmeasured states. Based on a modified high-gain observer and Hurwitz assumption of high frequency gain matrix, an adaptive backstepping design is proposed, which is able to guarantee global stability of the closed-loop system and circumvent the over-parameterization problem raised by using conventional back stepping method.