DYNAMICAL ROBUST ADAPTIVE TRACKING FOR UNCERTAIN NONLINEAR-SYSTEMS

In this paper, we propose two robust adaptive control schemes for a la rge class of single-input single-output nonlinear uncertain systems in order to track bounded and smooth trajectories. The method is based o n the introduction of a dynamical iterative change of coordinates (DCC ) which is a modified version of a dynamical backstepping procedure. T he performances of these algorithms are illustrated on a Buck-Boost co nverter.