Adaptive dynamical feedback regulation strategies for linearizable uncertain systems

Abstract

In this paper, we address the design of adaptive dynamical feedback strategies of the continuous and discontinuous types, for the output stabilization of nonlinear systems. The class of systems considered corresponds to nonlinear controlled systems exhibiting linear parametric uncertainty. Dynamical feedback controllers, ideally achieving output stabilization via exact linearization, are obtained by means of repeated output differentiation and, either, pole placement, or, sliding mode control techniques. The adaptive versions of the dynamical stabilizing controllers are then obtainable through standard, direct, overparametrized adaptive control strategies available for linearizable systems. Illustrative examples which deal with the regulation of electro-mechanical systems are provided.