Nonlinear variable structure adaptive control

This paper proposes to control a class of nonlinear systems described by the discrete-time nonlinear ARX models with unknown parameters depending on the input and output. A set of adaptive controllers are designed based on the variable structure control for the discrete-time ARX models locally identified around given levels of input and output. The proper adaptive controller is chosen among the set of the adaptive controllers designed for local discrete-time ARX models identified for the different regions of input and output. The example of the nonlinear system identification and the adaptive control presented in the paper show the effectiveness of the proposed approach.