Global adaptive stabilization of cascade nonlinear systems
- AUTHORS: M. Jankovic, R. Sepulchre, P. Kokotovic.
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 1 output. As an illustration a
benchmark problem'' is solved.
- KEY WORDS: nonlinear systems, adaptive control, feedback passivation.
- STATUS: published in Automatica, vol. 33, no 2, pp. 263-368, 1997.
- Preliminary version published in the Proceedings of the
World Congress, San Francisco, California, pp. 311-316, 1996.