Adaptive control of nonlinearly parameterized systems with a triangular structure

This paper deals with adaptive control of a class of nonlinear systems with a triangular structure and nonlinear parameterization. In Kojic et al. [(Systems Control Lett. 37 (1999) 267)] it was shown that a class of second-order nonlinearly parameterized systems can be adaptively controlled in a globally stable manner. In this paper. we extend our approach to all nth order systems that have a triangular structure. Global boundedness and convergence to within a desired precision epsilon is established for both regulation and tracking. Extensions to cascaded systems containing linear dynamics and static nonlinearities are also presented. (C) 2001 Elsevier Science Ltd. All rights reserved.