Adaptive output feedback control methodology: Theory and practical implementation aspects

Theoretical and practical implementation aspects of adaptive output feedback control method were analyzed. The method was found useful for applications in which, part of the system dynamics, actuator dynamics were nearly linear with relatively known characteristics. The controller synthesis included the proposed feedback linearization scheme coupled with a linear compensator design and adaptive NN-based element used to reduce the effect of model inversion error. It was suggested that open-loop system dynamics can be incorporated in the design through the proposed linearization procedure.