State Dependent Robust Adaptive Controller Design for Nonlinear System in Presence of Disturbances

This paper presents a novel robust adaptive state dependent control strategy for the class of nonlinear Lipschitz systems in the presence of bounded matched or unmatched disturbances. A constructive algorithm based on Linear Matrix Inequalities (LMIs) by using Lyapunov stability theory is developed for on-line tuning of controller gains to stabilize the closed-loop control system asymptotically, and to attenuate disturbance effects. The resulting control system has simpler structure as compared with most existing methods. The merits of the proposed control scheme have been verified by the simulation on an active suspension system in the presence of physical parametric uncertainties.