Cascade disturbance rejection control of the uncertain nonlinear systems with nonlinear parameterization

In this paper, uncertain nonlinear systems with nonlinear parameterization are considered. The parametric strict feedback structure is utilized to make the cascade adaptive control scheme feasible. Since the disturbance rejection based adaptive controller is adopted, no prior knowledge of the unknown parameters is necessarily required. Sufficient condition for asymptotic stability of the closed-loop system is derived. Monte-Carlo method is employed to evaluate the performance robustness of the closed-loop system. Simulation results demonstrate the effectiveness and robustness of the proposed cascade adaptive control scheme.