Experimental Validation of an Augmenting Approach to Adaptive Control of Uncertain Nonlinear Systems

Abstract

A method of adaptive output feedback design for uncertain nonlinear systems is presented. The development is in a form that is suitable for augmenting a linear controller. The approach is applicable to non-affine, non-minimum phase systems having parametric and dynamic uncertainties. A requirement is that the non-minimum phase zeros are represented to a sufficient accuracy in the linear controller design. The approach has been experimentally validated using a 3-disk torsional pendulum and an inverted pendulum.