ROBUST ADAPTIVE STATE-FEEDBACK TRACKING FOR NONLINEAR-SYSTEMS

For a class of single-input/single-output uncertain nonlinear systems, affected both by uncertain time-varying parameters (with known bounds ) and unknown time-varying bounded disturbances, a new robust adaptive state-feedback control algorithm is presented. it guarantees: bounded ness of all signals and arbitrary disturbance attenuation when both di sturbances and time-varying parameters are present and asymptotic trac king with arbitrary transient performance when no disturbance is actin g on the system and parameters are constant. The adaptation may be swi tched off, still guaranteeing bounded signals and disturbance attenuat ion.