This paper, presents a direct adaptive control design method for uncertain nonlinear non-minimum phase systems. First, an appropriate reference signal is designed such that the internal dynamic subsystem is input-to-state practical stable. Then an output feedback control, which does not rely on the state estimation, is designed such that the output of system asymptotically tracks this reference...

In this paper we discuss the algebraic construction of the mKdV hierarchy in terms of an affine Lie algebra ŝl(2). An interesting novelty araises from the negative even grade sector of the affine algebra leading to nonlinear integro-differential equations admiting non-trivial vacuum configuration. These solitons solutions are constructed systematically from generalization of the dressing method...

A variant factor (VF) technique is developed for the control design of a class of single-input and single-output affine nonlinear systems with input saturation. The main ideas of VF are to convert an affine nonlinear system into a linear time-invariant system similar to the dynamic inversion and then to use the ideas of the composite nonlinear feedback (CNF) technique to design a control law fo...

A dual control for a nonlinear system with non-minimum phase based on the bicriterial approach is proposed and discussed. A particular class of the nonlinear input/output recursive model is composed of linear and nonlinear blocks, the latter being implemented with a multi-layered perceptron neural network. The unknown parameters of the model are estimated in real-time by the extended Kalman fil...

This paper is concerned with set-point sevo problems by P·SPR·D control and P·I·SPR·D control of affine nonlinear system which is of multi input and multi output. P·SPR·D control consists of proportional (P) action + strict positive real (SPR) action + derivative (D) action. Such control can asymptotically stabilize the affine nonlinear system being passive. Stability analysis of P·SPR·D contro...

This paper presents conditions under which the feedback interconnection of a nonlinear plant and a piecewise-affine controller is stable. The piecewise-affine controller is designed for a piecewise-affine approximation of the nonlinear dynamics. The design is based on previous work of the authors. The paper also shows how to use differential inclusions to design piecewise-affine controllers for...

This paper is concerned with P·SPR·D control of affine nonlinear system and robot manipulators which are passive systems. P·SPR·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Stability analysis of the P·SPR·D control is made, based...

Necessary and sufficient conditions for a class of dissipative nonlinear multiinput multi-output discrete-time systems are given. The conditions existing in the literature, addressed as Kalman-Yakubovich-Popov conditions, for the dissipative, passive or lossless cases, are derived from the proposed dissipativity characterization. Feedback passivity is solved for a class of multi-input multi-out...

This paper describes an approach for augmenting a linear controller design with a neural-network-based adaptive element. The basic approach involves formulating an architecture for which the associated error equations have a form suitable for applying existing results for adaptive output feedback control of nonlinear systems. The approach is applicable to non-affine, nonlinear systems with both...

We present a preliminary result on robust semi-global stabilization via output feedback for a family of uncertain nonlinear systems which represent a generalized normal form of affine systems in the plane. The main contribution of this paper is to show that with only the knowledge of the bounding system of the uncertain planar system, it is possible to establish the semi-global stabilization re...