L1 Adaptive Control for a Class of Uncertain Nonaffine-in-Control Nonlinear Systems

Ronald Choe, Enric Xargay, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This technical note presents an L1 adaptive controller for a class of nonlinear uncertain systems, nonaffine in control. As compared to previous L1 architectures for nonlinear nonaffine-in-control systems, the solution discussed in this technical note admits a broader class of nonlinear systems by relaxing some of the (restrictive) assumptions previously made. We also consider a more general filtering structure and prove the results using partial knowledge of the control input actuator model. With the presented control architecture we are able to improve the performance and robustness of the closed-loop adaptive system, compared to prior results of L1 adaptive control for nonaffine-in-control systems.

Original languageEnglish (US)
Article number7140742
Pages (from-to)840-846
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number3
StatePublished - Mar 1 2016

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'L1 Adaptive Control for a Class of Uncertain Nonaffine-in-Control Nonlinear Systems'. Together they form a unique fingerprint.

Cite this