An adaptive high-gain multiple time scaling based output-feedback controller and application to servocompensator design

We propose a dynamic high-gain scaling based output-feedback controller for strict-feedback-like systems with appended Input-to-State Stable (ISS) dynamics. The controller design utilizes a multiple time scaling structure that eliminates need for a cascading dominance assumption on upper diagonal terms in the system dynamics. The system is allowed to contain both functional and parametric uncertainties. The proposed controller approach is applied to the servomechanism problem to obtain an error-feedback control law that is applicable to a general class of uncertain strict-feedback-like systems with appended ISS dynamics.