An adaptive compensator for a class of linearly parameterized systems

A compensation design for a class of linearly parameterized systems is presented. The compensator consists of a typical linearizing control and an adaptive observer for online estimation of the system's parameters. The proposed method achieves the asymptotic stability of the tracking and estimation error dynamics, provided the basis functions in the regressor vector are linearly independent in terms of the desired system states. No persistent excitation and measurement of the highest derivatives of the system states are required. A numerical example is given to demonstrate the validity of the proposed design.