A robustification tool for adaptive non-linear control

This paper presents a conceptually simple robustification approach for the adaptive control of a class of non-linear systems with static and dynamic u ncertainties. This approach generates a new class of robust adaptive non-li near controllers and is based upon a combined application of the well-known adaptive backstepping and recent non-linear small-gain techniques. The pre sented method is illustrated via a third-order chemical reactor with only t emperature information, and under relaxed conditions. An adaptive output-fe edback stabilizer is obtained without resorting to any state observer. Copy right (C) 1999 John Wiley & Sons, Ltd.