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Modular approach to adaptive nonlinear stabilization

✍ Scribed by Miroslav Krstić; Petar V. Kokotović

Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
532 KB
Volume
32
Category
Article
ISSN
0005-1098

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✦ Synopsis

modular approach to adaptive control of nonlinear systems introduced previously is presented in a general framework. This approach abandons the certainty equivalence principle ubiquitous in the estimation-based approach. The adaptive stabilization problem is studied in the setting of control Lyapunov functions, and is reduced to the problem of input-to-state stabilization with respect to the parameter estimation error considered as the input.

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It is fairly well known that there are fundamental differences between adaptive control of continuoustime and discrete-time nonlinear systems. In fact, even for the seemingly simple single-input singleoutput control system y t+1 = θ 1 f (y t ) + u t + w t+1 with a scalar unknown parameter θ 1 and no