Discrete Time Immersion and Invariance Adaptive Control for Systems in Strict Feedback Form

Yalcin Y., Astolfi A.

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Florida, United States Of America, 12 - 15 December 2011, pp.343-347 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Florida
  • Country: United States Of America
  • Page Numbers: pp.343-347
  • Istanbul Technical University Affiliated: Yes


This paper presents a new design procedure for the adaptive stabilization (regulation) via state feedback for discrete-time nonlinear systems in parametric strict-feedback form. The algorithm utilizes discrete-time adaptive backstepping in the controller construction together with a new method for the parameter estimator design. This approach provides a recursive construction which guarantees boundness of the closed-loop trajectories and global convergence to the origin of the state of the closed-loop system. The performance of the proposed method are illustrated by simulations.