ISSN : 1796-203X
Volume : 3    Issue : 7    Date : July 2008

Adaptive Cerebellar Model Articulation Controller for a Class of Nonlinear Systems with Only
Output Measurement
Chin-Ming Hong and Yih-Guang Leu
Page(s): 48-55
Full Text:
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Based on the cerebellar model articulation approach, an adaptive output-feedback control for a
class of nonlinear systems. A control law of the closed-loop system is derived from an adaptive
cerebellar model articulation control approach, and the adjustable parameters of the adaptive
cerebellar model articulation controller are updated online by an adaptive law. The stability of the
closed-loop system is verified by strictly positive real Lyapunov theory, under the constraint that only
the system output measurement is available for feedback. In addition, the system output is
guaranteed to asymptotically track a given bounded reference signal. Eventually, the performance of
the proposed approach is illustrated by two simulated examples of the nonlinear systems.

Index Terms
adaptive control, cerebellar model articulation control, nonlinear systems, output feedback control.