Decentralized high gain adaptive control system using backstepping

We proposed a decentralized high gain adaptive control which stabilizes an interconnected subsystems and analyzes the stability and fault tolerance of the system. In order to analyze the fault tolerance, it is given a structure of systems which is invariant under some failures of local controllers and an adaptive control which stabilizes a system with such structure is presented. Backstepping is applied to the decentralized high gain adaptive control system in order to relax the restriction about the relative degree of each subsystem.<>