Stable adaptive control of nonlinear dynamical systems

By introducing the approximators, an indirect adaptive control method is presented for the control of a class of nonlinear systems. The proposed scheme can overcome the drawbacks of existing adaptive nonlinear control techniques which can only control minimum phase nonlinear systems and may easily result in a large control effort. The stability of closed-loop system was proved, and the convergence of the state vector to a residual set around the equilibrium, whose size can be set by the choice of several design constants is demonstrated by the simulation results.