Robust adaptive control of a class of uncertain nonlinear systems

The robust stabilization of a class of nonlinear systems with gain bounded uncertainties and unknown constant parameter is considered. State feedback controllers are constructed when the system are robust minimum-phase or satisfy some conditions respectively, such that the closed-loop systems are robust global asymptotic stabilization. The feedback controllers that have been obtained by constructing a positive definite Lyapunov function directly, estimate the parametric error real time, and give the closed-loop system robust control based on its estimating value.