Adaptive Output Feedback Control for MIMO Nonlinear Systems based on Feedback Exponential Passivity

Ikuro MIZUMOTO; Zenta IWAI; Koshiro KOHARA

doi:10.9746/sicetr1965.37.115

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

Adaptive Output Feedback Control for MIMO Nonlinear Systems based on Feedback Exponential Passivity

Ikuro MIZUMOTO, Zenta IWAI, Koshiro KOHARA

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Keywords: adaptive control, nonlinear systems, MIMO systems, feedback exponential passivity, parallel feed forward compensator

JOURNAL FREE ACCESS

2001 Volume 37 Issue 2 Pages 115-124

DOI https://doi.org/10.9746/sicetr1965.37.115

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Abstract

The property of systems that can be rendered exponentially passive via output feedback is called output feedback exponential passivity. The design of adaptive output feedback control for output feedback exponentially passive MIMO nonlinear systems is proposed. Further, the alleviation of the output feedback exponentially passive conditions by introducing a parallel feedforward compensator (PFC) will be considered and design principle for the PFC is derived. The new concrete design scheme for the PFC is also given.

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