Decentralized robust adaptive control of uncertain nonlinear systems using dual high gain

P. Krishnamurthy, F. Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We propose a decentralized output-feedback controller for a general class of interconnected large-scale systems. Each subsystem in the large-scale system is comprised of a triangular (strict-feedback-like) system coupled with an appended Input-to-State Stable (ISS) dynamics. The design is based on our recent results on a new adaptive high-gain control design approach utilizing a dual high-gain observer and controller architecture with a dynamic scaling. The technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters (with no magnitude bounds required). Both the uncertain parameters and the appended dynamics are allowed to be coupled with the entire system state.

Original languageEnglish (US)
Title of host publicationProceedings of the 27th Chinese Control Conference, CCC
Number of pages5
StatePublished - 2008
Event27th Chinese Control Conference, CCC - Kunming, Yunnan, China
Duration: Jul 16 2008Jul 18 2008

Publication series

NameProceedings of the 27th Chinese Control Conference, CCC


Other27th Chinese Control Conference, CCC
CityKunming, Yunnan


  • Adaptive control
  • Decentralized
  • High gain
  • Large-scale systems
  • Nonlinear systems
  • Output-feedback

ASJC Scopus subject areas

  • Control and Systems Engineering


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