L1 adaptive controller for a class of systems with unknown nonlinearities: Part I

This paper presents a novel adaptive control methodology for a class of uncertain systems in the presence of time-varying unknown nonlinearities. The adaptive controller ensures uniformly bounded transient and asymptotic tracking for system´s both input and output signals simultaneously. The performance bounds can be systematically improved by increasing the adaptation rate. Part II extends the results to a class of systems in the presence of unmodeled dynamics.