Petar V. Kokotovic

TL;DR: In this paper, an approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree is studied, and a method for constructing approximate systems that are input output linearizable is provided.

TL;DR: Simulations show that the use of the adaptive hysteresis inverse leads to major improvements of system performance.

TL;DR: In this article, an in-depth examination of intelligent approaches to increasing the accuracy of a variety of system components is presented, utilizing a unified, adaptive, inverse approach, which offers electrical, mechanical, chemical, aeronautical and computer engineers methods for controlling many of the "hard" nonlinearities of frequently employed control systems such as dead-zone, backlash and hysteresis.

TL;DR: In this paper, the same family of controllers semi-globally practically stabilizes the exact discrete-time model of the plant for sufficiently small sampling periods when the controllers are locally bounded, uniformly in the sampling period.

TL;DR: In this paper, the effects of unmodeled high frequency dynamics and bounded disturbances on stability and performance of adaptive control schemes are analyzed using simple examples, and a procedure is used to construct Lyapunov-like functions for a modified adaptive controller applied to a dominant plant of relative degree one, in the presence of parasitics and disturbances.