An output regulation problem under the existence of disturbances is one of the main objectives to design the control system for mechanical systems, and the strategy based on the internal model principle (IMP) is one of the attractive ways to suppress the disturbances. In this paper, we propose an almost strictly positive real (ASPR) based adaptive output feedback control with adaptive internal model for output regulation for systems with uncertain disturbances and reference signals. The stability of the obtained adaptive control system is analysed, and the effectiveness of the proposed method is confirmed through numerical simulations.
This paper is concerned with an event-triggered controller deign based on high gain adaptive backstepping for switched uncertain nonlinear systems. The proposed controller can be applied to switched systems with uncertain control coefficient and does not have a compensation term for the error between the current control signal and last updated control signal. These advantages are obtained due to the proposed event-triggered controller is designed based on the high gain adaptive feedback strategy.
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