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|Title:||Stable adaptive control for nonlinear multivariable systems with a triangular control structure|
|Authors:||Ge, S.S. |
|Citation:||Ge, S.S.,Hang, C.C.,Zhang, T. (2000-06). Stable adaptive control for nonlinear multivariable systems with a triangular control structure. IEEE Transactions on Automatic Control 45 (6) : 1221-1225. ScholarBank@NUS Repository.|
|Abstract:||A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. By utilizing the system triangular property, integral-type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need of estimating the "decoupling matrix" of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantified by mean squareand L∞ tracking error bound criteria. © 2000 IEEE.|
|Source Title:||IEEE Transactions on Automatic Control|
|Appears in Collections:||Staff Publications|
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