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A recursive least-squares (LS) state-space identification method based on the QR decomposition is proposed for non-uniformly sampled-data systems. Both cases of measuring all states and only the output(s) are considered for model identification. For the case of state measurement, a QR decomposition-based recursive LS (QRD-RLS) identification algorithm is given to estimate the state matrices. For the...
In this paper, a continuous robust feedback control is designed for a class of high-order multi-input multi-output (MIMO) nonlinear systems with two degrees of freedom containing unstructured nonlinear uncertainties in the drift vector and parametric uncertainties in the high frequency gain matrix, which is allowed to be non-symmetric in general. Given some mild assumptions on the system model, a...
In this paper, we address the problem of adaptive control design for a class of multi-input multi-output (MIMO) nonlinear systems. A Lypaunov based singularity free control law, which compensates for parametric uncertainty in both the drift vector and the input gain matrix, is proposed under the mild assumption that the signs of the leading minors of the control input gain matrix are known. Lyapunov...
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