Output Feedback Control of an Uncertain System using an Adaptive Observer

Bong Jun Yang, Naira Hovakimyan, Anthony J. Calise

Research output: Contribution to journalArticlepeer-review


A method of adaptive output feedback control design for an uncertain nonlinear system is presented. The control design augments a state observer based linear control law by an adaptive observer in a manner that adaptive estimation and control augmentation is achieved through a single neural network. In this process, we show how the unmatched uncertainty is tackled by an adaptive signal. The proposed synthesis can be applied to non-affine systems having parametric and dynamic uncertainties. The approach is also applicable to non-minimum phase systems if the non-minimum phase zero dynamics are considered in the linear control design. We illustrate the effectiveness of the approach using an inverted pendulum example.

Original languageEnglish (US)
Pages (from-to)1705-1710
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2003
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety


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