Stable adaptive control for nonlinear multivariable systems with a triangular control structure

A stable adaptive controller is developed for a class of nonlinear multivariable systems using nonlinearly parametrized function approximators. Using the system´s triangular control property, integral type Lyapunov functions are introduced for deriving the control structure and adaptive laws without the need for estimating the “decoupling matrix” of the multivariable nonlinear system. It is shown that stability of the adaptive closed-loop system is guaranteed, and transient performance is analytically quantified by mean square and L_∞ tracking error bound criteria