New results in decentralized adaptive non-linear stabilization using output feedback

Zhong Ping Jiang, Daniel W. Repperger

Research output: Contribution to journalArticlepeer-review


This paper proposes new results in decentralized adaptive stabilization for a class of large-scale non-linear systems with output measurements. Like previous work, the parametric uncertainty does not satisfy any matching conditions and the uncertain interconnections may be highly non-linear. Unlike most previous results in the literature of decentralized control, the development of our systematic approach does not rely on the crucial assumption that the (unmeasured) zero-dynamics of each individual local system are linear and enter the system additively and linearly. Simulation results based on a practical example of two inverted pendulums on carts demonstrate the effectiveness of the proposed decentralized adaptive stabilization methodology.

Original languageEnglish (US)
Pages (from-to)659-673
Number of pages15
JournalInternational Journal of Control
Issue number7
StatePublished - May 10 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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