Adaptive control in the presence of a general nonlinear parametrization

This paper deals with the adaptive control of dynamic systems with nonlinear parametrization. When the states of a nonlinear system are available and one or more of the system parameters appear nonlinearly, it is shown that a globally stable adaptive controller can be determined. Both regulation and tracking are shown to be achievable globally. This result expands the scope of adaptive control considerably, which has been restricted, in most cases, to systems with parameters occuring linearly.