Output feedback dynamic surface control for a class of linear uncertain MIMO systems

A novel output feedback adaptive dynamic surface control (DSC) approach is proposed for a class of linear uncertain MIMO systems. The problem of explosion of terms in traditional backstepping design is eliminated by utilizing DSC. A matrix factorization based DSC was proposed with the assumption that only the signs of the leading principal minors of the high-frequency gain matrix (HFGM) are known. Based on a novel adaptive algorithm, the number of updated parameters is significantly reduced and the adaptive law is necessary only at the first design step, which observably simplifies the design procedure. It is proved that the developed method can guarantee semi-global stability of the close-loop system. Simulation results demonstrate the effectiveness of the proposed approach.