Output feedback adaptive stabilization and command following for minimum phase dynamical systems with unmatched uncertainties

Tansel Yucelen, Wassim M. Haddad
2011 Proceedings of the 2011 American Control Conference  
In this paper, we develop an output feedback adaptive control framework for continuous-time minimum phase multivariable dynamical systems for output stabilization and command following. The approach is based on a nonminimal state space realization that generates an expanded set of states using the filtered inputs and filtered outputs and their derivatives of the original system. Specifically, a direct adaptive controller for the nonminimal state space model is constructed using the expanded
more » ... ng the expanded states of the nonminimal realization and is shown to be effective for multi-input, multi-output linear dynamical systems with unmatched system uncertainties and unstable dynamics. Two illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach.
doi:10.1109/acc.2011.5991122 fatcat:okjfslzp3rgy7g5onaoycixkue