Adaptive Regulation of High-Order Lower-Triangular Systems with an Unknown Virtual Control Coefficient

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This paper deals with adaptive control of a class of linearly parametrized highorder nonlinear systems that are of a lower-triangular structure, but neither feedback Iinearizable nor affine in the control input. In Lin, et al. (2000a) it was shown that such a class of nonlinear systems can be adaptively regulated in a globally stable manner by using a new adaptive control technique called adding a power integrator recursively. In this paper adding a power integrator is extended to adding a power integrator with an unknown constant; called virtual control coefficient.