A Note on Adaptive Control of Minimum-Phase Nonlinear Systems

Abstract

This paper studies adaptive control of a class of minimum-phase nonlinear systems with unknown parameters. Sufficient conditions are developed for the existence of a nonlinear adaptive controller that achieves global stability and regulation. The adaptive controller is explicitly constructed by using a Lyapunov-like recursive argument. The result of this paper incorporates and extends a number of adaptive control schemes recently proposed in the literature for globally feedback linearizable systems without zero dynamics.