| Abstract: | An adaptive output feedback controller for single input feedback linearizable systems is proposed. The output derivatives are estimated with a state high-gain observer, and the matched uncertainties are handled using a modelling error compensation method. Compared with existing adaptive methods, this approach avoids overparameterizations yielding an (n+1)-order compensator, where n is the system dimension. Semiglobal stability is proven with the aid of existing results on the stability of controlled nonlinear systems with high-gain state observation. Copyright © 1999 John Wiley & Sons, Ltd. |
