Non-certainty equivalent adaptive control for lower triangular systems based on dynamic scaling and filter.

SUMMARY A new adaptive controller is designed on the basis of dynamic scaling and filter for lower triangular systems. Compared with the available adaptive results in the literature, the proposed adaptive approach does not necessarily need to satisfy the certainty equivalence principle and allows for prescribed dynamics to be assigned to the parameter estimation error. The proposed adaptive state feedback controller that ensures all signals of closed-loop systems are globally bounded while keeping the output tracking error to the origin simultaneously. It is interesting to note that, viewed from a Lyapunov perspective, the proposed method provides a procedure to add cross terms between the parameter estimates and the system states in every design step. Finally, two comparatively simulation examples are given, highlighting the advantages of the proposed methodology. Copyright © 2013 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]