Three new adaptive nonlinear output-feedback schemes are presented. The first scheme employs the tuning functions design. The other two employ a novel estimation-based design consisting of a strengthened controller-observer pair and observer-based and swapping-based identifiers. They remove restrictive growth and matching conditions present in the previous output-feedback nonlinear estimation-based designs and allow a systematic improvement of transient performance.
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Krstić et al. (1996) studied this question.
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