Lyapunov-stable adaptive stabilization of nonlinear systems with matched uncertainty

Jesse B. Hoagg, Dennis S. Bernstein

Research output: Contribution to journalConference articlepeer-review


Lapunov-based Adaptive stabilization and its extensions to nonlinear systems with matched uncertainty is discussed. A novel full-state-feedback adaptive controller is used to stabilize nth-order nonlinear systems with bounded state-dependent uncertainty. The uncontrolled systems has a continuum of equilibria, and the origin of the system is semistable, but not asymtotically stable. The adaptive controller stabilizes the equilibrium so that both the velocity and the [position converge to zero. The open loop system is also unstable, and the adaptive controller stabilizes the origin.

Original languageEnglish
Article numberThC10.4
Pages (from-to)3180-3185
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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