An adaptive output feedback control methodology for non-minimum phase systems

Abstract

A method of output feedback design of an adaptive controller is presented that can be used to augment a fixed-gain linear controller. The key feature is that it is applicable to non-minimum phase nonlinear systems, having both parametric uncertainty and unmodeled dynamics. Ultimate boundedness of error signals can be shown using Lyapunov's direct method. An example is provided to illustrate the effectiveness of the approach.