Robust H∞ adaptive control for generalized lower-triangular nonlinear systems

The robust adaptive H _infin control problem for a class of generalized lower-triangular nonlinear systems expands the normal lower-triangular form to a more general case. Based on modified power integrator method, a recursive design procedure is showed to achieve a smooth robust adaptive H _infin controller, which ensures that the closed-loop system is globally asymptotically stable and makes H _infin norm bound. Further, the illustrative example demonstrates the effectiveness of the presented approach.