Robust Adaptive Control of Linear Systems Having a Polynomial Input Nonlinearity

For a class of nonlinear systems depicted by the cascade connection of a static nonlinearity and a linear dynamic system, the influence of unmeasured disturbances and unmodeled dynamics on the performance of the previously proposed control weighted suboptimal control law [3] is analyzed. A simple robust adaptation scheme is presented to implement adaptively the suboptimal control law which ensures the adaptive control system converge to a tuned set and guarantees the global stability.