DUAL-MODE ADAPTIVE-CONTROL OF NONLINEAR PROCESSES

A control scheme for nonlinear single input systems is introduced, whe re the controller has two modes of operation: In the first mode the co ntroller is designed to achieve stability and performance in a neighbo rhood of the operating point where the system is operated under normal conditions. In the second mode the controller acts as a ''safety jack et'' that is designed to bring the system state back to the normal ope rating regime if unusually large disturbances force the system far fro m its normal mode of operation. The second mode is based on a very rob ust adaptive nonlinear high-gain feedback law. We prove that global as ymptotic stability is achieved robustly with this scheme.