Abstract
In this paper we present an adaptive output feedback controller for feedback linearizable non-linear systems. It employs a high-gain observer with estimate saturation which is crucial in achieving semiglobal asymptotic stabilization to the origin and, if the regressor vector is persistently exciting, exponential tracking of reference signals. A byproduct of this result is an exponentially stable adaptive observer for feedback linearizable non-linear systems. We show that in the absen ce of persistence of excitation the tracking error can be made as small as desired by increasing the observer and parameter adaptation gains. The same idea allows us to prove approximate tracking when the unknown parameters are varying at an arbitrary but bounded rate.
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