State Feedback Regulation of Nonlinear Systems with Unmodeled Dynamics

This paper studies the state feedback control problem for a class of nonlinear systems with integral input-to-state stability (iISS) unmodeled dynamics and unknown control direction. By using the properties of iISS and the backstepping technique, the design function of the state feedback controller and the updating rule of parameters are selected to obtain the appropriate controller. Theoretical analysis proves that the designed controller can ensure that all signals of the system are bounded and the state can be gradually adjusted to zero. Simulation results show the effectiveness of the proposed method.