Robust Adaptive Asymptotic Tracking And An Observer Of Nonlinear Systems With Additive Disturbance

First,this dissertation deals with the tracking control of multiple-input-multiple-output (MIMO) nonlinear systems in presence of additive disturbances and parametric uncertainties.We first translate these problems into adaptive parameter linearization approximation(A.P.L.A) form,later we deal with the true systems.For such systems, robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. Under the assumption of the disturbances, we present a robust adaptive control construction that guarantees the tracking error is asymptotically driven to zero. Second,this dissertation deals with parametric strict-feedback systems in presence of additive disturbances and parametric uncertainties, under the assumption of the disturbances,an observer is designed.