Abstract
In this paper, we consider a class of single input-single output nonlinear systems whose nominal model is feedback linearizable and satisfies a minimum-phase condition. The system model depends linearly on unknown parameters which belong to a known compact convex set, and includes asymptotically stable, nonlinear actuators. A semi-global adaptive output feedback controller is developed; this scheme guarantees that the output of the system tracks any bounded reference signal which possesses bounded derivatives and satisfies a persistence of excitation condition. The controller scheme consists of an adaptive state-feedback controller and a high-gain observer. It is established that when the speeds of the observer and actuator are sufficiently high, the adaptive output feedback controller recovers the performance achieved under state feedback. In addition, the special case of robust adaptive regulation is presented. Finally an example is given to illustrate the developed theory.
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