입출력 선형화를 응용한 불확실한 시스템의 적응제어에 관한 연구

Adaptive control of uncertain system using input-output linearization

A technique of indirect adaptive control based on certainty equivalence for input output linearization of nonlinear system is proven convergent by Teel. It incorporates an adaptive observer for identifying unknown system states and parameters and input-output linearizing controller for robust tracking. In this study, we show that robustness and tracking performances are improved considerably by using its normalized form of Teel's observer-based identifier. Simple examples are presented as illustration.