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

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Date
2003-08Author
Yang, Bong-Jun
Hovakimyan, Naira
Calise, Anthony J.
Craig, James I.
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Show full item recordAbstract
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.