Adaptive control of a class of nonlinear systems with convex/concave parameterization

This paper deals with adaptive control of a class of second-order nonlinear systems with a triangular structure and convex/concave parameterization. I n Annaswamy et al. (Automatica 33(11) (1998) 1975-1995) it was shown that n onlinearly parameterized systems that satisfy certain matching conditions c an be adaptively controlled in a stable manner. In this paper, we relax the se matching conditions and include additional dynamics between the nonlinea rities and the control input. Global boundedness and convergence to within a desired precision epsilon is established. No overparameterization of the adaptive controller is required. (C) 1999 Published by Elsevier Science B.V . All rights reserved.