Output-feedback control for nonlinear systems with fully coupled input unmodeled dynamics via dual dynamic scaling

P. Krishnamurthy, F. Khorrami

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


A general class of uncertain nonlinear systems with uncertain input unmodeled dynamics is considered. The system structure includes a core nominal subsystem of triangular structure with additive uncertain nonlinear functions and coupled with a set of uncertain nonlinear appended dynamics as well as uncertain dynamic input nonlinearities. The dynamic input nonlinearities include an uncertain non-affine function and a dynamic perturbation through an uncertain input unmodeled dynamics subsystem. The input unmodeled dynamics subsystem is coupled with the entire system state including the unmeasured state of the uncertain nonlinear appended dynamics coupled with the nominal triangular system. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbation-like redesign to address the non-affine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a global robust adaptive output-feedback control design that is robust to the dynamic input uncertainties and to uncertain nonlinear functions allowed throughout the system structure.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479932726
StatePublished - 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR


  • Output feedback
  • Robust adaptive control
  • Uncertain systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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