Indirect Adaptive Control of Linearly Parametrized Nonlinear Systems

Abstract

Two indirect adaptive linearizing controllers are proposed, in continuous time, for the class of non linear systems which are linearly parametrized and state feedback linearizable. In each case, the stability of the closed loop is analyzed in details. It is also shown how these control laws can be extended to other related situations: discrete control with sample and hold devices, input-output feedback linearization, non linear parametrizations. The comparison with direct adaptive controllers previously presented in the literature is also briefly addressed.