ABSTRACT

This chapter aims to develop adaptive output-feedback controllers for a class of uncertain systems with multiple inputs and single output (MISO). To achieve satisfactory output regulation and the boundedness of all closed-loop signals, the actuators corresponding to the inputs are redundant for one another if the output of it is stuck at some unknown constant. The considered class of systems has a characteristic that the relative degrees with respect to the inputs are not necessarily the same. To deal with these inputs using backstepping technique, the chapter introduces a pre- filter before each actuator such that its output is the input to the actuator. The orders of the pre-filters are chosen properly to ensure all their inputs can be designed at the same step in the systematic design. To illustrate a design idea, the chapter considers set-point regulation problem for linear systems and then extends the results to tracking control of nonlinear systems.