Robust adaptive tracking for a class of uncertain nonlinear systems

A robust adaptive controller, based on the backstepping method of Lyapunov function, is designed for a more general class of SISO uncertain nonlinear systems to track a given reference signal. This controller can make the track error converge exponentially to a small bounded neighborhood of zero. Moreover all the signals of the close-loop system are guaranteed to be bounded. This controller capability is confirmed by numeric simulation of the temperature control system of PEMFC stack.