In this paper, we unify and extend previously obtained results on adaptive stabilization of nonlinear systems from a passive systems viewpoint. It is shown that, for an interconnected multi-input nonlinear system composed of a chain of feedback strictly passive subsystems, an adaptive controller can be designed to render the closed loop system passive. Further, adaptive regulation is guaranteed if the zero-dynamics equation of each subsystem satisfies an appropriate input/state property. A systematic use of feedback passification in our proposed adaptive control scheme allows a simpler reinterpretation of the backstepping design with tuning functions in Krstić et al. (1992).

Original languageEnglish
Pages (from-to)73-84
Number of pages12
JournalSystems and Control Letters
Volume28
Issue number2
DOIs
StatePublished - 24 Jun 1996

    Research areas

  • Adaptive stabilization, Feedback passivity, Nonlinear control, Passive systems

    Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering

ID: 91882499