Adaptive output-feedback for nonlinear systems with no a priori bounds on parameters

P. Krishnamurthy, F. Khorrami

Research output: Contribution to journalConference articlepeer-review


In a recent result [1], we proposed a dynamic high-gain observer/controller architecture for nonlinear systems of the generalized output-feedback canonical form. The design in [1] utilized the dual architecture of a high-gain observer and controller and incorporated a single dynamic scaling. The designed output-feedback controller was shown to be robust to functional and parametric uncertainties coupled with all states. However, a magnitude bound on the unknown parameters was required. In this paper, we propose a time-varying output-feedback controller that can handle time-varying nonlinear parametric uncertainty coupled with all states without requiring any a priori magnitude bounds on the unknown parameters. This is achieved using a novel time-varying dynamics of the high-gain scaling parameter. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary.

Original languageEnglish (US)
Article numberFrA10.2
Pages (from-to)3713-3718
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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