New results in decentralized adaptive nonlinear control with output-feedback

Presents results in decentralized adaptive output feedback control for a general class of large-scale nonlinear systems in disturbed output-feedback form. Severe assumptions required in the literature such as the matching and polynomial-type growth conditions are removed. Nonlinear zero-dynamics are considered and enter every subsystem nonadditively whereas the additivity is a crucial hypothesis in most previous work in both settings of centralized and decentralized adaptive output-feedback control. The effectiveness of the proposed constructive decentralized methodology is illustrated in a practical example of two inverted pendulums on carts without velocity measurements