A solution to the decentralized adaptive stabilization problem

A solution to the problem of designing a globally convergent truly decentralized adaptive controller for systems of arbitrary relative degree without any matching assumptions is presented. It is proved that using Morse´s new dynamic certainty equivalent adaptive controller, it is possible to determine a class of unmodeled interconnections in the face of which regulation of the plant output to zero with internal stability is still possible. It is proved that the output regulation happens with some guaranteed transient performance bounds, that the L₂ norm of the output is uniformly bounded by the initial parameter estimation error and that, if the latter is sufficiently small, a bound for the L_∞ norm of the output