Adaptive Control of a Class of Feedforward and Non-feedforward Nonlinear Systems

Abstract

We propose a switching-based adaptive state feedback controller for a class of nonlinear systems that have uncertain nonlinearity. The base of the proposed conditions on the nonlinearity is the feedforward form, then it is extended via a nonlinear function containing all the states and the control input. As a result, more generalized systems containing feedforward and nonfeedforward terms are allowed as long as the ratio condition of the nonlinear function is satisfied. Moreover, the information on the growth rate of nonlinearity is not required a priori in our control scheme.