Discrete time immersion and invariance adaptive control via partial state feedback for systems in block strict feedback form

Yalçın Y.

EUROPEAN JOURNAL OF CONTROL, vol.25, pp.27-38, 2015 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 25
  • Publication Date: 2015
  • Doi Number: 10.1016/j.ejcon.2015.05.002
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.27-38
  • Keywords: Discrete-time nonlinear control, Nonlinear partial feedback adaptive control, Strict-feedback form, Immersion and invariance control, Backstepping, NONLINEAR-SYSTEMS, DESIGN
  • Istanbul Technical University Affiliated: Yes


This paper presents a new method for the adaptive (tracking) regulation via partial state feedback for a class of discrete-time nonlinear systems in parametric strict-feedback form. A procedure is proposed based on immersion and invariance control approach where the parameter estimator and state observer designs are accomplished simultaneously. The algorithm utilizes discrete-time adaptive backstepping in the controller construction while providing a design without over parametrization. The proposed controller construction guarantees boundedness of the closed-loop trajectories and global (tracking) convergence to the origin of the state of the closed-loop system. The performance of the proposed method is illustrated by simulations. (C) 2015 European Control Association. Published by Elsevier Ltd. All rights reserved.