Adaptive control of systems in cascade with saturation

Suresh K. Kannan, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations


Some systems may be approximated as block cascades structures where each block of the cascade can be approximately feedback linearized. In such systems, the states of the lower subsystem blocks affect the dynamics of the upper subsystems. In generating an inverse for a given block, a subset of its lower subsystem states can be treated as virtual actuators in addition to actual direct actuation that may be available. The desired virtual actuator signal arising from the upper subsystem's inverse now appears as a command to the lower subsystem. This paper introduces an adaptive element that is capable of canceling modeling errors arising due to feedback linearization. It also introduces reference models that include a pseudocontrol hedging signal which protects the adaptive element from lower subsystem's dynamics.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424477456
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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