Adaptive tracking control of uncertain SISO nonlinear systems

In the paper we consider adaptive tracking control problem of a class of partially unknown, nonlinear systems in affine form. The proposed here output feedback linearizing controller plus parameter tuning law ensure asymptotic tracking via adaptive compensation of linearly parametrized model nonlinearities. A new feature is that this controller does not require multiple differentiation of the system output which could be problematic especially for the systems of higher relative degree.