Successive Approximations of Model Reference Adaptive Control Design for Nonlinear Systems

Abstract

In this study, model reference adaptive control algorithm with successive approximation method is suggested for nonlinear systems. The proposed method uses Linear Time Varying (LTV) approximations of the nonlinear model to design the controller. Provided that an adaptive control exists for the approximated LTV system, it is shown that the responses of the approximated LTV systems converge to the response of the nonlinear system. Then the model reference adaptive control for nonlinear system is designed by using successive LTV approximations. The proposed control design method is exemplified with a nonlinear dynamical system.