New results in decentralized adaptive nonlinear control with output-feedback

Research output: Contribution to journalConference article


This paper presents new results in decentralized adaptive output feedback control for a general class of large-scale nonlinear systems in disturbed output-feedback form. Severe assumptions required in recent literature such as the matching and polynomial-type growth conditions are removed. Nonlinear zero-dynamics are considered and enter every subsystem nonadditively whereas the additivity is a crucial hypothesis in most previous work in both settings of centralized and decentralized adaptive output-feedback control. The effectiveness of the proposed constructive decentralized methodology is illustrated in a practical example of two inverted pendulums on carts without velocity measurements.

Original languageEnglish (US)
Pages (from-to)4772-4777
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1999
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: Dec 7 1999Dec 10 1999


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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