On Adaptive Control of Non-Minimum Phase Nonlinear Systems

Abstract

We present a technique of indirect adaptive control for approximate linearization of nonlinear systems based on approximate input-output linearization scheme recently proposed in [HSK92]. The controller can achieve adaptive tracking of reasonable trajectories with small error for slightly non-minimum phase systems. It can also be applied to nonlinear systems where the relative degree is not well defined. Simulation results are provided for the familiar ball and beam experiment under some parameter uncertainty.