Backstepping adaptive control of discrete-time nonlinear systems
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is developped in a fully discretetime context in section 3. The extension to the continuoustime context is performed in section 4. A bstmctThe backstepping design technique has proved to be a quite interesting altenative, to the certainty equivalence principle, to get adaptive controllers. But, it has mainly been developped for continuous-time (linear and nonlinear) systems. For digital implementation purpose, the obtained continuous-time, and often highly nonlinear, adap tive regulators should be discretized. In this paper, the backstepping design technique is reformulated in the discrete-time framework and applied to get adap tive regulators for (discrete-time) nonlinear systems. The regulators thus obtained allows a direct digital implementation through a zero-order-hold (ZOH) reconstructor.. KegwonisAdaptive control, Nonlinear systems, discrete-time
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