Adaptive control of input-constrained type-1 plants stabilization and tracking

We consider the problem of controlling non-minimum phase type-1 plants in presence of model uncertainty and a saturation constraint imposed on the control input. The control objectives are the following: (i) robust global asymptotic stabilization of the controlled plant with respect to a multiplicative modeling error, (ii) output regulation in presence of external perturbations and (iii) tracking of output reference trajectories. The problem is dealt with using a saturated (indirect) adaptive regulator, based on a specific pole placement of the closed-loop poles. The slower the reference trajectory and the perturbation sequence, the better the tracking and regulation quality. (C) 2000 Elsevier Science Ltd. All rights reserved.