This paper addresses the problem of output feedback control for underactuated (non-square) MIMO systems with unknown input gain and matched uncertainties. The L1 adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass filter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims.

Original languageEnglish (US)
Pages (from-to)5510-5515
Number of pages6
Issue number1
StatePublished - Jul 2017


  • Adaptive control
  • disturbance rejection
  • output feedback control

ASJC Scopus subject areas

  • Control and Systems Engineering


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