Direct adaptive control for a class of nonlinear non-minimum phase systems

A direct adaptive control approach is proposed for a class of uncertain discrete time nonlinear non-minimum phase dynamical systems.The direct adaptive control approach is composed of a linear direct adaptive controller,a neural network nonlinear direct adaptive controller and a switching mechanism.The linear controller ensures the boundedness of the input and output signals,and the nonlinear controller improves performance of the system.By using the switching scheme,we demonstrated that both improved performance and stability are achieved simultaneously.Theoretical analysis and simulation results show the effectiveness of the proposed method.