Adaptive control of nonlinearly parametrized systems with a triangular structure

This paper deals with adaptive control of a class of nonlinear systems with a triangular structure and nonlinear parametrization. In our previous paper (1999) it was shown that a class of second-order nonlinearly parametrized systems can be adaptively controlled in a globally stable manner. In this paper, we extend our approach to all nth order systems that have a triangular structure. Global boundedness and convergence to within a desired precision /spl epsiv/ is established for both regulation and tracking. No overparametrization of the adaptive controller is required. Global boundedness in the presence of bounded disturbances is also established.