Adaptive backstepping control of a class of MIMO systems

Adaptive output feedback control of a class of multiple-input multiple-output systems is considered in the presence of unknown disturbances. Except the signs of the term multiplying the control are assumed, no other knowledge on the unknown parameters is required. The control design is achieved by using backstepping, tuning functions, SDU factorization and estimating parameters. It is shown that the proposed controller can guarantee global uniform ultimate boundedness.