Adaptive control of nonlinearly parameterized systems with a triangular structure

This paper deals with adaptive control of a class of nonlinear systems with a triangular structure and nonlinear parameterization. In Kojic et al. [(S ystems Control Lett. 37 (1999) 267)] it was shown that a class of second-or der nonlinearly parameterized systems can be adaptively controlled in a glo bally stable manner. In this paper. we extend our approach to all nth order systems that have a triangular structure. Global boundedness and convergen ce to within a desired precision epsilon is established for both regulation and tracking. Extensions to cascaded systems containing linear dynamics an d static nonlinearities are also presented. (C) 2001 Elsevier Science Ltd. All rights reserved.