Adaptive Control Of Nolinear Systems With Nolinear Parameters

In this paper, we propose a new recursive algorithm for the regulation via state feedback of systems in so-called parametric feedback form. The algorithm resembles the well-known adaptive backstepping approach, but differs in the way the parameter estimator is constructed and in the way the nonlinear gains are assigned. A comparative case is presented , highlighting the advantages of the proposed methodology. For the problem of nolinear cascade system's stabilization with the linear unknown parameter , a Lyapunov function is constructed, by Sontag formular and the projector, which guarantees stablity of the closed loop systems , an adaptive control law is designed .