Adaptive output feedback control with input saturation

Abstract

We consider the problem of adaptive output feedback control in the presence of saturating input characteristic. The adaptive control architecture augments an existing linear control design. The approach is applicable to non-affine, nonlinear systems with both parametric uncertainty and unmodeled dynamics subject to input saturation. Boundedness of signals is shown through Lyapunov's direct method. Experimental results with a 3-disk torsional pendulum are presented to demonstrate the approach.