Decentralized adaptive output-feedback tracking for a new class of large-scale nonlinear systems

This paper presents a solution to the problem of decentralized adaptive asymptotic tracking for a new class of large-scale systems using nonlinear output feedback. The proposed systematic approach does not require any matching conditions on the parametric uncertainties nor growth conditions of any kind on the sub-system output nonlinearities and interconnecting structures. A partially decentralized output-feedback procedure is formulated and illustrated in a practical example of two inverted pendulums on carts without velocity measurements