L<inf>1</inf> adaptive controller for multi-input multi-output systems in the presence of nonlinear unmatched uncertainties

Abstract

This paper presents the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> adaptive controller for a class of multi-input multi-output nonlinear systems in the presence of unmatched uncertainties. The L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> controller ensures uniformly bounded transient response for system's input and output signals simultaneously, in addition to steady-state tracking. Simulation results verify the theoretical findings.