Adaptive output feedback regulation for a class of uncertain nonlinear systems

In this paper, the problem of global state regulation by output feedback is investigated for a class of uncertain nonlinear systems satisfying some relaxed upper-triangular-type condition. Using a linear dynamic gain observer with two dynamic gains and introducing two appropriate change of coordinates, we give a constructive design procedure for the linear-like output feedback stabilizing controller. It is proved that the proposed controller globally regulates all the states of the uncertain system and maintains global boundedness of the closed-loop system. An example is provided to demonstrate the effectiveness of the proposed design scheme.