Stability Analysis of the Adaptive Input-Output Linearizing Controller

적응 입출력선형화 제어기의 안정성 해석에 관한 연구

In this study, the technique of adaptive control based on certainty equivalence for the input-output linearization of nonlinear system is investigated. It is shown that the upper bound of the parameter estimation error can be represented more explicitly than Teel et al's works. Another direct approach, which stows that the adaptive input-output linearing control laws using the normalized identifier yield bounded tracing, is also presented.