Adaptive Control of Nonlinear Continuous-Time Systems

A direct adaptive control method with a simple identification of the controller parameters is presented for a class of uncertain time-varying nonlinear systems. The systems are divided into a finite number of subsystems, which are interpolated by functions of an exogenous scheduling variable. The adaptive method yields stability of all signals in the closed-loop, as well as convergence of the state vector to a residual set around the equilibrium, whose size can be set by the choice of several design constants. The effectiveness of the presented method with global convergence and less plant information is demonstrated by simulation results.