Adaptive control of a class of non-linearly parametrized systems using convexification

Abstract

In this paper we deal with the problem of adaptive control of a class of non-linearly parametrized plants. The main contribution is to show that, through a well-chosen reparametrization, it is possible to transform the non-convex nonlinear parametrization into a convex one, a property that is used to design a globally stable adaptive controller.