Adaptive Control for Nonlinear Systems With Uncertain Output Function and Unknown Homogenous Growth Rate

This brief discusses the adaptive control problem for nonlinear systems with uncertain output function and unknown homogenous growth rate. Firstly, we design a homogenous state compensator with a novel dynamic gain to estimate the system state. Then, an output feedback controller is constructed by virtue of adding one power integrator technique. By using Lyapunov stability theorem, it can be proved that the system state asymptotically converges to the origin while ensuring all signals of the closed-loop system are bounded. Finally, an example is given to show the effectiveness of the proposed method.