ROBUST ADAPTIVE STABILIZATION OF A CLASS OF SYSTEMS UNDER STRUCTURED NONLINEAR PERTURBATIONS WITH APPLICATION TO INTERCONNECTED SYSTEMS

This paper presents a stabilization scheme for a class of multi-input/ multi-output systems with nonlinear additive perturbations using high- gain adaptive controllers. The nominal system is assumed to satisfy so me mild conditions required by standard adaptive control schemes, and the perturbations certain structural conditions. The controller is a d ynamic output feedback containing a gain parameter, which is adjusted with a simple adaptation rule. The result is also applied to decentral ized stabilization of a class of interconnected systems, where the int erconnections are treated as perturbations to nominally decoupled subs ystems.