Adaptive regulation of cascade systems with nonlinear parameterization

This article provides a solution to the problem of global adaptive regulation, for a class of nonlinearly parameterized cascade systems including feedback linearizable and minimum‐phase systems with nonlinear parameterization . The solution is derived by using a novel parameter separation technique combined with a feedback domination design. We remove all the restrictive conditions previously imposed on the unknown parameters, such as linear parameterization or convex/concave parameterization conditions, which have been commonly assumed so far in the literature of nonlinear adaptive control.