Robust adaptive control of systems with nonlinear unmodeled dynamics

Zhong Ping Jiang, David Hill, Jie Chen

Research output: Contribution to journalConference article


This paper presents a global adaptive nonlinear state-feedback controller with robustness in the face of nonlinear unmodeled dynamics. A novel systematic design scheme is proposed to construct desired robust adaptive controllers in which recent small gain arguments are successfully put together with the well-known backstepping procedure. Our design method can be directly extended to the tracking problem and to handle systems with unknown virtual control coefficients.

Original languageEnglish (US)
Pages (from-to)2855-2860
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1998
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998


ASJC Scopus subject areas

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

Cite this