(Georgia Institute of Technology, 2003-08)
Yang, Bong-Jun; Hovakimyan, Naira; Calise, Anthony J.; Craig, James I.
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.