ADAPTIVE CONTROL FOR A CLASS OF NONLINEAR SYSTEMS

Kamil Vrba - Josef Čajka

   The paper presents a new approach to the problem of nonlinear systems tracking with a linear reference model. The method uses nonlinear control and adaptation laws. A sufficient condition is that the system nonlinearities with unknown parameters are known. The stability proof based upon the general Lyapunov stability theory is provided. At the end of paper, an example of adaptive control for a third order nonlinear system is presented, where a considerable improvement of the control system dynamic behaviour has been achieved.

Keywords: tracking, nonlinear plants, linear reference model, nonlinear control and adaptation laws

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