Global adaptive output feedback tracking for nonlinear systems linear in unmeasured states

P. Krishnamurthy, F. Khorrami

Research output: Contribution to journalConference articlepeer-review


A global adaptive output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. It is also shown that this assumption can be removed by introducing extra dynamics. This represents the first adaptive output-feedback tracking results for this class of systems.

Original languageEnglish (US)
Pages (from-to)4814-4819
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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