Reduced order shunt nonlinear adaptive controller

The method of parallel feedforward compensator ("shunt") developed earlier for adaptive control of linear plants is extended to a class of nonlinear minimum phase plants. The new design of shunt output feedback adaptive controllers achieves global stability of the system solving the regulation and tracking problems. The total order of the auxiliary filters is reduced by half compared to existing results. The performance of the proposed adaptive controller is illustrated by example of controlling chaotic trajectories of Duffing equation to the periodic orbits.