Structured model reference adaptive control for a class of nonlinear systems
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abstract
A control design methodology for a particular class of nonlinear dynamic systems in the structured first-order form is presented. The differential equations are distinctly categorized as two sets, one representing exact kinematic differential equations and the other representing an uncertain dynamic model. The control law seeks exponential stability of the position errors for the known parameter case. For the uncertain parameter case, an adaptive controller is designed that guarantees bounded position tracking errors. The efficacy of the controller is supported through simulation examples.
