Adaptive stabilization for a class of feedforward systems with zero-dynamics

This paper investigates adaptive state feedback stabilization for a class of feedforward nonlinear systems with zero-dynamics, unknown linear growth rate and control coefficient. For design convenience, the state transformation is first introduced and the new system is obtained. Then, the estimation law is constructed for the unknown control coefficient, and the state feedback controller is proposed with a gain updated on-line. By appropriate choice of the estimation law for the control coefficient and the dynamic gain, the states of the closed-loop system are globally bounded, and the state of the original system converges to zero. Finally, a simulation example is given to illustrate the correctness of the theoretical results.

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