Robust adaptive control of minimum phase non-linear systems
AuthorJohansen, T. A.
Ioannou, Petros A.
SourceInternational Journal of Adaptive Control and Signal Processing
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We show that an adaptive input/output feedback linearization control scheme for minimum phase nonlinear systems is robust with respect to unstructured plant uncertainties such as unmodelled dynamics and disturbances provided that the adaptive law is modified in the same fashion as for linear systems and the plant non-linearities satisfy some growth constraints. In the analysis we utilize weighted ℒ-norms analogously to the case with a linear model.
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