Robust adaptive output feedback controller design for uncertain jumping systems

In this paper, the problem of adaptive output feedback stabilization of uncertain systems is investigated. A systematic algorithm for obtaining the adaptive output feedback control gain which guarantees the boundedness of all state variables is proposed. And then when both the considered system and its corresponding adaptive law are with state-dependent impulse disturbances, sufficient conditions will be derived such that the uncertain system will be robustly practically stable. Furthermore, requiring only the motor position for feedback, the adaptive scheme will be applied to construct the controllers for permanent magnet (PM) and variable reluctance (VR) stepper motors. Finally, simulation studies are presented to validate the controller performance.