Adaptive Control of Linearizable Systems

Abstract

In this paper we give some initial results on the adaptive control of “minimum-phase” nonlinear systems which are exactly input-output linearizable by state feedback. Parameter adaptation is used as a technique to robustify the exact cancellation of nonlinear terms, which is called for in the linearization technique. Only the continuous time case is discussed in this paper; extensions to the discrete-time and sampled-data case are not obvious. © 1989 IEEE