Explicit adaptive control of nonminimum phase systems with a class of preload nonlinearities

An adaptive control scheme extended from the linear method given by Chai (1990) and Hersh and Zarrop (1986) is developed to deal with a nonlinear system, which has the same nonlinearity as described by Kung and Womack (1984), but the linear part can be nonminimum phase system and the assumption for b₀ is not necessary in the design. Besides, by using the design method, the desired characteristics of the closed-loop system can be prespecified. Under suitable conditions, the algorithm will ensure that the closed-loop system is stable and convergent with a specific residue