Adaptive control of first-order systems with nonlinear parameterization

Abstract

In this paper, an adaptive control method is presented for a class of first-order systems with nonlinear parameterization. The main feature of the scheme is that a novel integral type Lyapunov function is developed for constructing an asymptotically stable adaptive controller. Transient bounds of the tracking error are given to evaluate the control performance of the adaptive system. Two examples are provided to illustrate the design procedure and the effectiveness of the newly developed controller.