Adaptive dynamic inversion for nonaffine-in-control systems via time-scale separation: part II

This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a "fast" dynamical equation, which inverts a series parallel model, whose state is shown to track the state of the original nonaffine-in-control system. Numerically verifiable sufficient conditions on the system parameters are given. A simulation example illustrates the theoretical results.