Indirect Techniques for Adaptive Input Output Linearization of Nonlinear Systems

Nonlinear indirect adaptive control is motivated by the fact that, with exact knowledge of the plant parameters, a nonlinear state feedback law and a suitable set of coordinates can be chosen to produce linear input-output behavior. In the case of parameter uncertainty, intuition suggests that parameter estimates which are converging to their true values can be used to asymptotically linearize the system. The work presented here is a condensed version of [11]. It is concurrent with indirect adaptive control results found in [1, 2, 7, 10].