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In this paper we present a computationally inexpensive adaptive control method for a class of single-input single-output (SISO) uncertain nonlinear dynamic system with actuator failure, modeling uncertainties and external disturbances. By blending system deep-rooted information into backstepping control design and with the help of Nussbaum gains, we develop a robust adaptive control scheme to deal...
It is a long lasting open problem to synthesize a general PI control for nonlinear systems with its gains analytically determined, yet ensuring stability and transient performance. The problem is further complicated if modeling uncertainties and external disturbances as well as actuation failures are involved in the systems. In this note, a generalized PI control with adaptively adjusting gains is...
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