Global adaptive stabilization of cascade nonlinear systems

  • Jankovic M
  • Sepulchre R
  • Kokotovic P
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Abstract

An adaptive controller is developed for a class of nonlinear systems for which other approaches (e.g. backstepping) may fail to be applicable. The new design employs feedback passivation and an explicit construction of a Lyapunov function for the zero dynamics with respect to a relative degree one output. As an illustration a longstanding 'nonlinear benchmark problem' is solved. ©1997 Elsevier Science Ltd. All rights reserved.

Author-supplied keywords

  • Adaptive control
  • Lyapunov functions
  • Nonlinear systems

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