Output tracking control via adaptive input-output linearization: a backstepping approach

The output tracking problem of a class of observable minimum-phase uncertain nonlinear systems is considered, and a solution based on a suitable combination of input-output linearization and the adaptive backstepping control design procedure is proposed. Dynamical adaptive controllers arise from dynamical input-output linearization, by using a general non-overparameterized adaptive backstepping algorithm without explicit transformation of the controlled system into parametric-pure or parametric-strict feedback forms. The validity of the proposed approach is tested through digital computer simulations