Output controller for nonlinear and MIMO systems with delay

In the paper the recent advantages in the development of adaptive output control approach using high-gain principle named by the authors as “consecutive compensator” is applied for SISO channels. The new approach for a class of nonlinear MIMO systems with parametric uncertainties and state-delays is proposed. The mathematical model is divided on two parts: static MIMO transformation and a few SISO channels that allows to design the control law in two steps. At the first step we design the virtual controls for each SISO channel and then after the inverse MIMO transformation we propose the control law for considered system. We present also the robotic setup designed for analysis of control algorithms oriented to complex technical objects.