Observer-based Adaptive Control of Nonlinear Systems Under Matching Conditions

A new adaptive scheme that requires only output (instead of full-state) measurement is developed for a class of linearizable systems. This class is restricted by an output-matching condition and by sector-type conditions on the nonlinearities multiplying unknown parameters. The adaptive scheme consists of a certainty-equivalence control utilizing state estimates generated by an adaptive observer and parameter estimates generated by a prediction-error-type estimator.