Adaptive control of nonlinearly parameterized systems with a triangular structure (Q5953545)

By generalizing an earlier result [the author et al., Syst. Control Lett. 37, 267-274 (1999; Zbl 0942.93016)] to all \(n\)th order nonlinear systems with triangular structure and nonlinear parametrization, the authors show that a globally stabilizing and tracking controller guaranteeing a desired precision can be determined. For estimating the unknown parameters, some functions generated by using a min-max optimization problem are introduced in the adaptive controller. Finally, an illustrative example is presented.