Adaptive control of a class of discrete-time affine nonlinear systems

The adaptive control problem is addressed in the paper for a class of discrete-time affine nonlinear input/output stochastic models with linear unknown parameters. The controller is a certainty equivalence weighted one-step-ahead control and is constructed by using the weighted-least-squares and random regularization methods. Global stability of the closed-loop systems is established, which shows that arbitrarily large growth rate is allowed for the multiplicative nonlinear part of the systems.