2003 Volume 39 Issue 12 Pages 1099-1107
A novel adaptive backstepping design for a class of n-th order nonlinearly parameterized systems with a triangular structure is proposed. Under the Lipschitz condition with respect to unknown parameters of the system, an effective adaptive controller is designed without the requirement on the compactness of the unknown parameter set. Especially, the proposed adaptive control enables the advantage of “tuning function concept”, which results in only one estimation law for the unknown parameters. Our simulation with induction motor model particularly shows the viability of the obtained results.